#include <hector_path_follower.h>

Public Member Functions
bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel)

	HectorPathFollower ()

void	initialize (tf::TransformListener *tf)

bool	isGoalReached ()

bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &global_plan)

Private Member Functions
geometry_msgs::Twist	diff2D (const tf::Pose &pose1, const tf::Pose &pose2)

bool	getRobotPose (tf::Stamped< tf::Pose > &global_pose) const

double	headingDiff (double pt_x, double pt_y, double x, double y, double heading)

geometry_msgs::Twist	limitTwist (const geometry_msgs::Twist &twist)

double	sign (double n)

bool	stopped ()

bool	transformGlobalPlan (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const std::string &global_frame, std::vector< geometry_msgs::PoseStamped > &transformed_plan)

Private Attributes
unsigned int	current_waypoint_

std::vector< geometry_msgs::PoseStamped >	global_plan_

ros::Time	goal_reached_time_

bool	holonomic_

double	in_place_trans_vel_

double	K_rot_

double	K_trans_

double	max_vel_lin_

double	max_vel_th_

double	min_in_place_vel_th_

double	min_vel_lin_

double	min_vel_th_

boost::mutex	odom_lock_

ros::Subscriber	odom_sub_

std::string	p_global_frame_

std::string	p_robot_base_frame_

double	rot_stopped_velocity_

int	samples_

tf::TransformListener *	tf_

double	tolerance_rot_

double	tolerance_timeout_

double	tolerance_trans_

double	trans_stopped_velocity_

Detailed Description

Definition at line 42 of file hector_path_follower.h.

Constructor & Destructor Documentation

pose_follower::HectorPathFollower::HectorPathFollower ( )

Definition at line 36 of file hector_path_follower.cpp.

Member Function Documentation

bool pose_follower::HectorPathFollower::computeVelocityCommands ( geometry_msgs::Twist & cmd_vel )

Definition at line 118 of file hector_path_follower.cpp.

geometry_msgs::Twist pose_follower::HectorPathFollower::diff2D	(	const tf::Pose &	pose1,
		const tf::Pose &	pose2
	)

private

Definition at line 230 of file hector_path_follower.cpp.

bool pose_follower::HectorPathFollower::getRobotPose ( tf::Stamped< tf::Pose > & global_pose ) const

private

Definition at line 365 of file hector_path_follower.cpp.

double pose_follower::HectorPathFollower::headingDiff	(	double	pt_x,
		double	pt_y,
		double	x,
		double	y,
		double	heading
	)

private

Definition at line 87 of file hector_path_follower.cpp.

void pose_follower::HectorPathFollower::initialize ( tf::TransformListener * tf )

Definition at line 38 of file hector_path_follower.cpp.

bool pose_follower::HectorPathFollower::isGoalReached ( )

Definition at line 220 of file hector_path_follower.cpp.

geometry_msgs::Twist pose_follower::HectorPathFollower::limitTwist ( const geometry_msgs::Twist & twist )

private

Definition at line 272 of file hector_path_follower.cpp.

bool pose_follower::HectorPathFollower::setPlan ( const std::vector< geometry_msgs::PoseStamped > & global_plan )

Definition at line 210 of file hector_path_follower.cpp.

double pose_follower::HectorPathFollower::sign ( double n )

inlineprivate

Definition at line 52 of file hector_path_follower.h.

bool pose_follower::HectorPathFollower::stopped ( )

private

bool pose_follower::HectorPathFollower::transformGlobalPlan	(	const tf::TransformListener &	tf,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan,
		const std::string &	global_frame,
		std::vector< geometry_msgs::PoseStamped > &	transformed_plan
	)

private

Definition at line 312 of file hector_path_follower.cpp.

Member Data Documentation

unsigned int pose_follower::HectorPathFollower::current_waypoint_

private

Definition at line 84 of file hector_path_follower.h.

std::vector<geometry_msgs::PoseStamped> pose_follower::HectorPathFollower::global_plan_

private

Definition at line 85 of file hector_path_follower.h.

ros::Time pose_follower::HectorPathFollower::goal_reached_time_

private

Definition at line 83 of file hector_path_follower.h.

bool pose_follower::HectorPathFollower::holonomic_

private

Definition at line 75 of file hector_path_follower.h.

double pose_follower::HectorPathFollower::in_place_trans_vel_

private

Definition at line 74 of file hector_path_follower.h.

double pose_follower::HectorPathFollower::K_rot_

private

Definition at line 70 of file hector_path_follower.h.

double pose_follower::HectorPathFollower::K_trans_

private

Definition at line 70 of file hector_path_follower.h.

double pose_follower::HectorPathFollower::max_vel_lin_

private

Definition at line 72 of file hector_path_follower.h.

double pose_follower::HectorPathFollower::max_vel_th_

private

Definition at line 72 of file hector_path_follower.h.

double pose_follower::HectorPathFollower::min_in_place_vel_th_

private

Definition at line 74 of file hector_path_follower.h.

double pose_follower::HectorPathFollower::min_vel_lin_

private

Definition at line 73 of file hector_path_follower.h.

double pose_follower::HectorPathFollower::min_vel_th_

private

Definition at line 73 of file hector_path_follower.h.

boost::mutex pose_follower::HectorPathFollower::odom_lock_

private

Definition at line 79 of file hector_path_follower.h.

ros::Subscriber pose_follower::HectorPathFollower::odom_sub_

private

Definition at line 80 of file hector_path_follower.h.

std::string pose_follower::HectorPathFollower::p_global_frame_

private

Definition at line 77 of file hector_path_follower.h.

std::string pose_follower::HectorPathFollower::p_robot_base_frame_

private

Definition at line 76 of file hector_path_follower.h.

double pose_follower::HectorPathFollower::rot_stopped_velocity_

private

Definition at line 82 of file hector_path_follower.h.

int pose_follower::HectorPathFollower::samples_

private

Definition at line 87 of file hector_path_follower.h.

tf::TransformListener* pose_follower::HectorPathFollower::tf_

private

Definition at line 68 of file hector_path_follower.h.

double pose_follower::HectorPathFollower::tolerance_rot_

private

Definition at line 70 of file hector_path_follower.h.

double pose_follower::HectorPathFollower::tolerance_timeout_

private

Definition at line 71 of file hector_path_follower.h.

double pose_follower::HectorPathFollower::tolerance_trans_

private

Definition at line 70 of file hector_path_follower.h.

double pose_follower::HectorPathFollower::trans_stopped_velocity_

private

Definition at line 82 of file hector_path_follower.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation