mainpage.dox
/tmp/ws/src/shared_autonomy_manipulation/safe_teleop_base/
mainpage_8dox
safe_trajectory_planner.cpp
/tmp/ws/src/shared_autonomy_manipulation/safe_teleop_base/src/
safe__trajectory__planner_8cpp
safe_teleop_base/safe_trajectory_planner.h
safe_teleop
safe_trajectory_planner.h
/tmp/ws/src/shared_autonomy_manipulation/safe_teleop_base/include/safe_teleop_base/
safe__trajectory__planner_8h
safe_teleop::SafeTrajectoryPlanner
safe_teleop
safe_trajectory_planner_ros.cpp
/tmp/ws/src/shared_autonomy_manipulation/safe_teleop_base/src/
safe__trajectory__planner__ros_8cpp
safe_teleop_base/safe_trajectory_planner_ros.h
safe_teleop
int
main
safe__trajectory__planner__ros_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
safe_trajectory_planner_ros.h
/tmp/ws/src/shared_autonomy_manipulation/safe_teleop_base/include/safe_teleop_base/
safe__trajectory__planner__ros_8h
safe_teleop_base/safe_trajectory_planner.h
safe_teleop::SafeTrajectoryPlannerROS
safe_teleop
tf::TransformListener
TFListener
namespacesafe__teleop.html
a8603141e1560e1254d25e7c90a4e68ce
safe_teleop
namespacesafe__teleop.html
safe_teleop::SafeTrajectoryPlanner
safe_teleop::SafeTrajectoryPlannerROS
tf::TransformListener
TFListener
namespacesafe__teleop.html
a8603141e1560e1254d25e7c90a4e68ce
safe_teleop::SafeTrajectoryPlanner
classsafe__teleop_1_1SafeTrajectoryPlanner.html
base_local_planner::Trajectory
findBestPath
classsafe__teleop_1_1SafeTrajectoryPlanner.html
ace6f5f9684ad75e85dd1b591045e9635
(tf::Stamped< tf::Pose > global_pose, tf::Stamped< tf::Pose > global_vel, tf::Stamped< tf::Pose > user_vel, tf::Stamped< tf::Pose > &drive_velocities)
base_local_planner::Trajectory
findPath
classsafe__teleop_1_1SafeTrajectoryPlanner.html
ac99065c027c2489f58cd7fcd8ce1e26a
(tf::Stamped< tf::Pose > global_pose, tf::Stamped< tf::Pose > global_vel, tf::Stamped< tf::Pose > user_vel)
SafeTrajectoryPlanner
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a110a303ba4f2202604d0512f7622696c
(base_local_planner::WorldModel &world_model, const costmap_2d::Costmap2D &costmap, std::vector< geometry_msgs::Point > footprint_spec, double inscribed_radius, double circumscribed_radius, double acc_lim_x=1.0, double acc_lim_y=1.0, double acc_lim_theta=1.0, double sim_time=1.0, double sim_granularity=0.025, int vx_samples=10, int vy_samples=10, int vtheta_samples=10, double userdist_scale=0.8, double occdist_scale=0.2, double max_vel_x=0.5, double min_vel_x=0.1, double max_vel_y=0.2, double min_vel_y=-0.2, double max_vel_th=1.0, double min_vel_th=-1.0, bool holonomic_robot=true, bool dwa=false)
~SafeTrajectoryPlanner
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a42cc09ce43fa04d52af4cd19090d47fc
()
double
computeNewThetaPosition
classsafe__teleop_1_1SafeTrajectoryPlanner.html
af5ac5d8eec8a69c899576193aa63de7c
(double thetai, double vth, double dt)
double
computeNewVelocity
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a73c1a215aeac9ac06edb9f68de931fd8
(double vg, double vi, double a_max, double dt)
double
computeNewXPosition
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a7254ef99140ecc533f3831c0dc98f4a2
(double xi, double vx, double vy, double theta, double dt)
double
computeNewYPosition
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a2de8e9b19d281ee06c54e8b4ebe6590c
(double yi, double vx, double vy, double theta, double dt)
base_local_planner::Trajectory
createTrajectories
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a4c3545f699a9cc32999610853f49b7b5
(double x, double y, double theta, double vx, double vy, double vtheta, double acc_x, double acc_y, double acc_theta, double dx, double dy, double dtheta)
double
footprintCost
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a4f8f0559a8f39380208599ab89ba27eb
(double x_i, double y_i, double theta_i)
void
generateTrajectory
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a1e14459b58ceb5484c994d8281fa79ae
(double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp, double acc_x, double acc_y, double acc_theta, double impossible_cost, double dx, double dy, double dtheta, base_local_planner::Trajectory &traj)
void
getFillCells
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a455a85a43f4ff2e03714232de5a0f7ff
(std::vector< base_local_planner::Position2DInt > &footprint)
std::vector< base_local_planner::Position2DInt >
getFootprintCells
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a79d99b52b1be1d7c17b797da158ed9aa
(double x_i, double y_i, double theta_i, bool fill)
void
getLineCells
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a4e6cd2b0e18b79a32cc7db1685938070
(int x0, int x1, int y0, int y1, std::vector< base_local_planner::Position2DInt > &pts)
double
lineCost
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a546e5bc45a27c825774dde8aa3fb2bab
(int x0, int x1, int y0, int y1)
double
pointCost
classsafe__teleop_1_1SafeTrajectoryPlanner.html
ad90939caa081c75f79440fcdbc12f9e2
(int x, int y)
double
acc_lim_theta_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
aa926d941661c062099a55074e3c922e0
double
acc_lim_x_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a0a4659861b11779c217bbfef5fe5b026
double
acc_lim_y_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a6123041ad0a9c157019e28e409e604fe
double
circumscribed_radius_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a941e022f322b1d75c8cd211ab79e3c81
const costmap_2d::Costmap2D &
costmap_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a30b5f87ef8497bf8a3d55aed1bf2d2e3
bool
dwa_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a9a99b3aaaaf7439e1cb325d23c87d40d
std::vector< geometry_msgs::Point >
footprint_spec_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a33580c2e07c77952fa67e250b2839410
bool
holonomic_robot_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a512b7e5636446bd299a33e02cf64c084
double
inscribed_radius_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a931bce6d0e4394ce4f6627d14f521ede
base_local_planner::MapGrid
map_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a76535548da81f7e17a6f8c33cfcdc9b8
double
max_vel_th_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a00d2a379832534dcf0eb579ad893e9f4
double
max_vel_x_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a1fe2c240291f742e1a768e967acd7706
double
max_vel_y_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a62d9418295225b399cd524e5283fe27a
double
min_vel_th_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
ac01ef7594ab41c3966ed204cd0695072
double
min_vel_x_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
aaa6c97ba416b6efcd859baa5fcb71929
double
min_vel_y_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a3ca217afde9859b9be8a7195d23649c1
double
occdist_scale_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a1729d202ce72f96fa8071c3d788fcd54
double
sim_granularity_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
ac92fafc182e9698d43b334b6e29b17dc
double
sim_time_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
af3f9ed36e16afee9ddfd236b1a1239b9
base_local_planner::Trajectory
traj_one
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a84f91671659d45a65191e1ad9da6fdfc
base_local_planner::Trajectory
traj_two
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a8fb7cc87b91437c1ef32d2e92fc43b09
double
userdist_scale_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a31b9722b4f40a21cf95f0d76c086c83f
int
vtheta_samples_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a338ab25743fc8ec3f3144bbba75feb2b
int
vx_samples_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a00f924ca9be96770b2a22b016c329d1f
int
vy_samples_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
aedb014e52f0ee0934a99a4de68cdd6fd
base_local_planner::WorldModel &
world_model_
classsafe__teleop_1_1SafeTrajectoryPlanner.html
a129c0b05572f9324f7327c020beb8a93
friend class
SafeTrajectoryPlannerTest
classsafe__teleop_1_1SafeTrajectoryPlanner.html
af9ff1c287401a1ccafe2945794f42c10
safe_teleop::SafeTrajectoryPlannerROS
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
bool
computeVelocityCommands
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
aa02c1d5f678cc28c15fc947089f56976
(const geometry_msgs::Twist::ConstPtr &vel, geometry_msgs::Twist &cmd_vel)
SafeTrajectoryPlannerROS
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a21dd21a91e9ccbeec09fc0675d600145
(TFListener *tf, costmap_2d::Costmap2DROS *costmap_ros)
~SafeTrajectoryPlannerROS
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a747eecaa8f913bae0e33a86ba5912046
()
void
cmdCallback
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a3bc60197ae985e9de3dfd06e933053d4
(const geometry_msgs::Twist::ConstPtr &vel)
double
distance
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
afd5fa79472abca3216c088a0c5e7438f
(double x1, double y1, double x2, double y2)
std::vector< double >
loadYVels
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
ae60865cc6efcefbc6f0d7e6f4277eb20
(ros::NodeHandle node)
void
odomCallback
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
ab715fb98d176b628647de04c789d89a0
(const nav_msgs::Odometry::ConstPtr &msg)
void
publishPlan
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a615bfde46f47f5ac22d61e25a03183b6
(const std::vector< geometry_msgs::PoseStamped > &path, const ros::Publisher &pub, double r, double g, double b, double a)
bool
stopped
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a6b0a795a3b2b64442fbdf6d661ea83af
()
bool
transformGlobalPlan
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a04b204f82e70eb87a8ad752c0cae113b
(std::vector< geometry_msgs::PoseStamped > &transformed_plan)
nav_msgs::Odometry
base_odom_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
addcdd1ba4060177a321a6a0d1c51b7d2
double
circumscribed_radius_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
ae76ea9fec6b80f74deb7ecc03c3807c4
ros::Publisher
cmd_pub_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a987007a972dd4cb7e954b0372d5e94ac
ros::Subscriber
cmd_sub_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a7f1a72a84b43cec9c2ea63cc2c290cec
costmap_2d::Costmap2D
costmap_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a80026402f0a28f03963b3fae6dbdbb30
costmap_2d::Costmap2DROS *
costmap_ros_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a84d695d0ad5a71cae55cc76b62c965b0
std::string
global_frame_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a4c258f053351987615e254a292d28c48
double
inscribed_radius_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
afdcbcabfef65cd7afabebb78d1e8e066
ros::Publisher
l_plan_pub_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a3787fa2cb9e06121756f95b1b9026bd5
double
max_sensor_range_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
ac82795628d8fcb90914ff9a08df8f1da
double
max_vel_th_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a20986eeb0e9cca9dd3610f2f98403871
double
min_vel_th_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a388bb23f3ff81c1c865d411049bb98b4
ros::NodeHandle
nh_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a6b6e744a7a02540d23f153991f6ee7bf
boost::recursive_mutex
odom_lock_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
af25b2d0596d001339bfef7054ffa7590
ros::Subscriber
odom_sub_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a7c64e5362596f61d130b88691555cd31
std::string
robot_base_frame_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
ae9beef585a1cb7836da40a1eb9ee0511
double
rot_stopped_velocity_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a52766d3b200ef0d03cdc5205b6aed6a4
SafeTrajectoryPlanner *
tc_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a339697a279e3a871d99647f7a8ed2fee
TFListener *
tf_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
af970b7dfff8558f4256d334a867c6acc
double
trans_stopped_velocity_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a6e8cd0eb30c344962344e19e8dca81a4
ros::Publisher
u_plan_pub_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a347842e962c9add3a7f42b5f6f9f8d11
ros::Subscriber
user_sub_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a6bc782f5879b8999736dde414a726514
base_local_planner::WorldModel *
world_model_
classsafe__teleop_1_1SafeTrajectoryPlannerROS.html
a49c600d734e3e3ff6be137fe3942f2f5
index
index
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