Public Member Functions | Private Member Functions | Private Attributes | List of all members
BasePController Class Reference

#include <nav_pcontroller.h>

Public Member Functions

 BasePController ()
 
void main ()
 
 ~BasePController ()
 

Private Member Functions

bool comparePoses (double x1, double y1, double a1, double x2, double y2, double a2)
 
void compute_p_control ()
 
void cycle ()
 
double limit_acc (double x, double x_old, double limit)
 
void newGoal (const geometry_msgs::PoseStamped &msg)
 
void newGoal (const geometry_msgs::PoseStamped::ConstPtr &msg)
 
void newMoveBaseGoal ()
 
double p_control (double x, double p, double limit)
 
void parseParams ()
 
void preemptMoveBaseGoal ()
 
bool retrieve_pose ()
 retrieves tf pose and updates (x_now_, y_now_, th_now_) More...
 
void sendVelCmd (double vx, double vy, double vth)
 
void stopRobot ()
 

Private Attributes

double acc_ang_max_
 
double acc_lin_max_
 
std::string base_link_frame_
 
BaseDistance dist_control_
 
ros::Duration fail_timeout_
 
double fail_velocity_
 
std::string global_frame_
 
bool goal_set_
 
bool keep_distance_
 
double laser_watchdog_timeout_
 
boost::mutex lock
 
int loop_rate_
 
ros::Time low_speed_time_
 
actionlib::SimpleActionServer< move_base_msgs::MoveBaseAction > move_base_actionserver_
 
ros::NodeHandle n_
 
double p_
 
ros::Publisher pub_vel_
 
ros::Subscriber sub_goal_
 
tf::TransformListener tf_
 
double th_goal_
 
double th_now_
 
double th_tolerance_
 
double vel_ang_max_
 
double vel_lin_max_
 
double vth_
 
double vx_
 
double vy_
 
double x_goal_
 
double x_now_
 
double xy_tolerance_
 
double y_goal_
 
double y_now_
 

Detailed Description

This is a P controller for navigation. Yeah, this line is a todo...

ROS topics

Subscribes to (name/type):

Publishes to (name / type):

Actionlib (name / type):

ROS parameters

Definition at line 79 of file nav_pcontroller.h.

Constructor & Destructor Documentation

BasePController::BasePController ( )

Definition at line 57 of file nav_pcontroller.cc.

BasePController::~BasePController ( )

Definition at line 76 of file nav_pcontroller.cc.

Member Function Documentation

bool BasePController::comparePoses ( double  x1,
double  y1,
double  a1,
double  x2,
double  y2,
double  a2 
)
private

Definition at line 332 of file nav_pcontroller.cc.

void BasePController::compute_p_control ( )
private

Definition at line 217 of file nav_pcontroller.cc.

void BasePController::cycle ( )
private

Definition at line 252 of file nav_pcontroller.cc.

double BasePController::limit_acc ( double  x,
double  x_old,
double  limit 
)
private

Definition at line 50 of file nav_pcontroller.cc.

void BasePController::main ( )

Definition at line 80 of file nav_pcontroller.cc.

void BasePController::newGoal ( const geometry_msgs::PoseStamped &  msg)
private

Definition at line 152 of file nav_pcontroller.cc.

void BasePController::newGoal ( const geometry_msgs::PoseStamped::ConstPtr &  msg)
private

Definition at line 184 of file nav_pcontroller.cc.

void BasePController::newMoveBaseGoal ( )
private

Definition at line 132 of file nav_pcontroller.cc.

double BasePController::p_control ( double  x,
double  p,
double  limit 
)
private

Definition at line 44 of file nav_pcontroller.cc.

void BasePController::parseParams ( )
private

Definition at line 93 of file nav_pcontroller.cc.

void BasePController::preemptMoveBaseGoal ( )
private

Definition at line 143 of file nav_pcontroller.cc.

bool BasePController::retrieve_pose ( )
private

retrieves tf pose and updates (x_now_, y_now_, th_now_)

Definition at line 193 of file nav_pcontroller.cc.

void BasePController::sendVelCmd ( double  vx,
double  vy,
double  vth 
)
private

Definition at line 320 of file nav_pcontroller.cc.

void BasePController::stopRobot ( )
private

Definition at line 315 of file nav_pcontroller.cc.

Member Data Documentation

double BasePController::acc_ang_max_
private

Definition at line 85 of file nav_pcontroller.h.

double BasePController::acc_lin_max_
private

Definition at line 85 of file nav_pcontroller.h.

std::string BasePController::base_link_frame_
private

Definition at line 96 of file nav_pcontroller.h.

BaseDistance BasePController::dist_control_
private

Definition at line 98 of file nav_pcontroller.h.

ros::Duration BasePController::fail_timeout_
private

Definition at line 83 of file nav_pcontroller.h.

double BasePController::fail_velocity_
private

Definition at line 84 of file nav_pcontroller.h.

std::string BasePController::global_frame_
private

Definition at line 95 of file nav_pcontroller.h.

bool BasePController::goal_set_
private

Definition at line 91 of file nav_pcontroller.h.

bool BasePController::keep_distance_
private

Definition at line 91 of file nav_pcontroller.h.

double BasePController::laser_watchdog_timeout_
private

Definition at line 93 of file nav_pcontroller.h.

boost::mutex BasePController::lock
private

Definition at line 107 of file nav_pcontroller.h.

int BasePController::loop_rate_
private

Definition at line 86 of file nav_pcontroller.h.

ros::Time BasePController::low_speed_time_
private

Definition at line 105 of file nav_pcontroller.h.

actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction> BasePController::move_base_actionserver_
private

Definition at line 125 of file nav_pcontroller.h.

ros::NodeHandle BasePController::n_
private

Definition at line 100 of file nav_pcontroller.h.

double BasePController::p_
private

Definition at line 85 of file nav_pcontroller.h.

ros::Publisher BasePController::pub_vel_
private

Definition at line 103 of file nav_pcontroller.h.

ros::Subscriber BasePController::sub_goal_
private

Definition at line 102 of file nav_pcontroller.h.

tf::TransformListener BasePController::tf_
private

Definition at line 101 of file nav_pcontroller.h.

double BasePController::th_goal_
private

Definition at line 89 of file nav_pcontroller.h.

double BasePController::th_now_
private

Definition at line 90 of file nav_pcontroller.h.

double BasePController::th_tolerance_
private

Definition at line 82 of file nav_pcontroller.h.

double BasePController::vel_ang_max_
private

Definition at line 85 of file nav_pcontroller.h.

double BasePController::vel_lin_max_
private

Definition at line 85 of file nav_pcontroller.h.

double BasePController::vth_
private

Definition at line 88 of file nav_pcontroller.h.

double BasePController::vx_
private

Definition at line 88 of file nav_pcontroller.h.

double BasePController::vy_
private

Definition at line 88 of file nav_pcontroller.h.

double BasePController::x_goal_
private

Definition at line 89 of file nav_pcontroller.h.

double BasePController::x_now_
private

Definition at line 90 of file nav_pcontroller.h.

double BasePController::xy_tolerance_
private

Definition at line 82 of file nav_pcontroller.h.

double BasePController::y_goal_
private

Definition at line 89 of file nav_pcontroller.h.

double BasePController::y_now_
private

Definition at line 90 of file nav_pcontroller.h.


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


nav_pcontroller
Author(s): Ingo Kresse
autogenerated on Thu Jun 6 2019 19:20:56