#include <velocity_smoother_nodelet.hpp>

Public Member Functions
bool	init (ros::NodeHandle &nh)

void	shutdown ()

void	spin ()

	VelocitySmoother (const std::string &name)

	~VelocitySmoother ()

Private Types
enum	RobotFeedbackType { NONE, ODOMETRY, COMMANDS }

Private Member Functions
double	median (std::vector< double > values)

void	odometryCB (const nav_msgs::Odometry::ConstPtr &msg)

void	reconfigCB (yocs_velocity_smoother::paramsConfig &config, uint32_t unused_level)

void	robotVelCB (const geometry_msgs::Twist::ConstPtr &msg)

double	sign (double x)

void	velocityCB (const geometry_msgs::Twist::ConstPtr &msg)

Private Attributes
double	accel_lim_v

double	accel_lim_w

double	cb_avg_time

geometry_msgs::Twist	current_vel

ros::Subscriber	current_vel_sub

double	decel_factor

double	decel_lim_v

double	decel_lim_w

dynamic_reconfigure::Server< yocs_velocity_smoother::paramsConfig >::CallbackType	dynamic_reconfigure_callback

dynamic_reconfigure::Server< yocs_velocity_smoother::paramsConfig > *	dynamic_reconfigure_server

double	frequency

bool	input_active

ros::Time	last_cb_time

geometry_msgs::Twist	last_cmd_vel

std::string	name

ros::Subscriber	odometry_sub

std::vector< double >	period_record

unsigned int	pr_next

bool	quiet

ros::Subscriber	raw_in_vel_sub

enum yocs_velocity_smoother::VelocitySmoother::RobotFeedbackType	robot_feedback

bool	shutdown_req

ros::Publisher	smooth_vel_pub

double	speed_lim_v

double	speed_lim_w

geometry_msgs::Twist	target_vel

Detailed Description

Definition at line 33 of file velocity_smoother_nodelet.hpp.

Member Enumeration Documentation

enum yocs_velocity_smoother::VelocitySmoother::RobotFeedbackType

private

Enumerator
NONE
ODOMETRY
COMMANDS

Definition at line 49 of file velocity_smoother_nodelet.hpp.

Constructor & Destructor Documentation

yocs_velocity_smoother::VelocitySmoother::VelocitySmoother ( const std::string & name )

Definition at line 42 of file velocity_smoother_nodelet.cpp.

yocs_velocity_smoother::VelocitySmoother::~VelocitySmoother ( )

inline

Definition at line 38 of file velocity_smoother_nodelet.hpp.

Member Function Documentation

bool yocs_velocity_smoother::VelocitySmoother::init ( ros::NodeHandle & nh )

Initialise from a nodelet's private nodehandle.

Parameters

nh	: private nodehandle

Returns: bool : success or failure

Definition at line 254 of file velocity_smoother_nodelet.cpp.

double yocs_velocity_smoother::VelocitySmoother::median ( std::vector< double > values )

inlineprivate

Definition at line 86 of file velocity_smoother_nodelet.hpp.

void yocs_velocity_smoother::VelocitySmoother::odometryCB ( const nav_msgs::Odometry::ConstPtr & msg )

private

Definition at line 103 of file velocity_smoother_nodelet.cpp.

void yocs_velocity_smoother::VelocitySmoother::reconfigCB	(	yocs_velocity_smoother::paramsConfig &	config,
		uint32_t	unused_level
	)

private

Definition at line 52 of file velocity_smoother_nodelet.cpp.

void yocs_velocity_smoother::VelocitySmoother::robotVelCB ( const geometry_msgs::Twist::ConstPtr & msg )

private

Definition at line 111 of file velocity_smoother_nodelet.cpp.

void yocs_velocity_smoother::VelocitySmoother::shutdown ( )

inline

Definition at line 46 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::sign ( double x )

inlineprivate

Definition at line 84 of file velocity_smoother_nodelet.hpp.

void yocs_velocity_smoother::VelocitySmoother::spin ( )

Definition at line 119 of file velocity_smoother_nodelet.cpp.

void yocs_velocity_smoother::VelocitySmoother::velocityCB ( const geometry_msgs::Twist::ConstPtr & msg )

private

Definition at line 66 of file velocity_smoother_nodelet.cpp.

Member Data Documentation

double yocs_velocity_smoother::VelocitySmoother::accel_lim_v

private

Definition at line 58 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::accel_lim_w

private

Definition at line 59 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::cb_avg_time

private

Definition at line 70 of file velocity_smoother_nodelet.hpp.

geometry_msgs::Twist yocs_velocity_smoother::VelocitySmoother::current_vel

private

Definition at line 65 of file velocity_smoother_nodelet.hpp.

ros::Subscriber yocs_velocity_smoother::VelocitySmoother::current_vel_sub

private

Current velocity from commands sent to the robot, not necessarily by this node

Definition at line 76 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::decel_factor

private

Definition at line 60 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::decel_lim_v

private

Definition at line 58 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::decel_lim_w

private

Definition at line 59 of file velocity_smoother_nodelet.hpp.

dynamic_reconfigure::Server<yocs_velocity_smoother::paramsConfig>::CallbackType yocs_velocity_smoother::VelocitySmoother::dynamic_reconfigure_callback

private

Definition at line 96 of file velocity_smoother_nodelet.hpp.

dynamic_reconfigure::Server<yocs_velocity_smoother::paramsConfig>* yocs_velocity_smoother::VelocitySmoother::dynamic_reconfigure_server

private

Definition at line 90 of file velocity_smoother_nodelet.hpp.

double yocs_velocity_smoother::VelocitySmoother::frequency

private

Definition at line 62 of file velocity_smoother_nodelet.hpp.

bool yocs_velocity_smoother::VelocitySmoother::input_active

private

Definition at line 69 of file velocity_smoother_nodelet.hpp.

ros::Time yocs_velocity_smoother::VelocitySmoother::last_cb_time