Public Member Functions | Private Member Functions | Private Attributes
base_local_planner::OscillationCostFunction Class Reference

#include <oscillation_cost_function.h>

Inheritance diagram for base_local_planner::OscillationCostFunction:
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List of all members.

Public Member Functions

 OscillationCostFunction ()
bool prepare ()
void resetOscillationFlags ()
 Reset the oscillation flags for the local planner.
double scoreTrajectory (Trajectory &traj)
void setOscillationResetDist (double dist, double angle)
void updateOscillationFlags (Eigen::Vector3f pos, base_local_planner::Trajectory *traj, double min_vel_trans)
virtual ~OscillationCostFunction ()

Private Member Functions

void resetOscillationFlagsIfPossible (const Eigen::Vector3f &pos, const Eigen::Vector3f &prev)
bool setOscillationFlags (base_local_planner::Trajectory *t, double min_vel_trans)
 Given a trajectory that's selected, set flags if needed to prevent the robot from oscillating.

Private Attributes

bool forward_neg_
bool forward_neg_only_
bool forward_pos_
bool forward_pos_only_
double oscillation_reset_angle_
double oscillation_reset_dist_
Eigen::Vector3f prev_stationary_pos_
bool rot_neg_only_
bool rot_pos_only_
bool rotating_neg_
bool rotating_pos_
bool strafe_neg_only_
bool strafe_pos_only_
bool strafing_neg_
bool strafing_pos_

Detailed Description

Definition at line 46 of file oscillation_cost_function.h.


Constructor & Destructor Documentation

Definition at line 44 of file oscillation_cost_function.cpp.

Definition at line 47 of file oscillation_cost_function.cpp.


Member Function Documentation

General updating of context values if required. Subclasses may overwrite. Return false in case there is any error.

Implements base_local_planner::TrajectoryCostFunction.

Definition at line 53 of file oscillation_cost_function.h.

Reset the oscillation flags for the local planner.

Definition at line 84 of file oscillation_cost_function.cpp.

void base_local_planner::OscillationCostFunction::resetOscillationFlagsIfPossible ( const Eigen::Vector3f &  pos,
const Eigen::Vector3f &  prev 
) [private]

Definition at line 70 of file oscillation_cost_function.cpp.

return a score for trajectory traj

Implements base_local_planner::TrajectoryCostFunction.

Definition at line 166 of file oscillation_cost_function.cpp.

Given a trajectory that's selected, set flags if needed to prevent the robot from oscillating.

Parameters:
tThe selected trajectory
Returns:
True if a flag was set, false otherwise

Definition at line 101 of file oscillation_cost_function.cpp.

Definition at line 51 of file oscillation_cost_function.cpp.

void base_local_planner::OscillationCostFunction::updateOscillationFlags ( Eigen::Vector3f  pos,
base_local_planner::Trajectory traj,
double  min_vel_trans 
)

Definition at line 56 of file oscillation_cost_function.cpp.


Member Data Documentation

Definition at line 80 of file oscillation_cost_function.h.

Definition at line 80 of file oscillation_cost_function.h.

Definition at line 80 of file oscillation_cost_function.h.

Definition at line 80 of file oscillation_cost_function.h.

Definition at line 83 of file oscillation_cost_function.h.

Definition at line 83 of file oscillation_cost_function.h.

Definition at line 85 of file oscillation_cost_function.h.

Definition at line 79 of file oscillation_cost_function.h.

Definition at line 79 of file oscillation_cost_function.h.

Definition at line 79 of file oscillation_cost_function.h.

Definition at line 79 of file oscillation_cost_function.h.

Definition at line 78 of file oscillation_cost_function.h.

Definition at line 78 of file oscillation_cost_function.h.

Definition at line 78 of file oscillation_cost_function.h.

Definition at line 78 of file oscillation_cost_function.h.


The documentation for this class was generated from the following files:


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Wed Aug 2 2017 03:12:38