graceful_controller::GracefulController Class Reference

#include <graceful_controller.hpp>

Public Member Functions
bool	approach (const double x, const double y, const double theta, double &vel_x, double &vel_th, bool backward_motion=false)
	Implements something loosely based on "A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environments" by Park and Kuipers, ICRA 2011. More...
	GracefulController (double k1, double k2, double min_abs_velocity, double max_abs_velocity, double max_decel, double max_abs_angular_velocity, double beta, double lambda)
	Constructor of the controller. More...
void	setVelocityLimits (const double min_abs_velocity, const double max_abs_velocity, const double max_abs_angular_velocity)
	Update the velocity limits. More...

Private Attributes
double	beta_
double	dist_
double	k1_
double	k2_
double	lambda_
double	max_abs_angular_velocity_
double	max_abs_velocity_
double	max_decel_
double	min_abs_velocity_

Detailed Description

Definition at line 29 of file graceful_controller.hpp.

Constructor & Destructor Documentation

GracefulController()

graceful_controller::GracefulController::GracefulController	(	double	k1,
		double	k2,
		double	min_abs_velocity,
		double	max_abs_velocity,
		double	max_decel,
		double	max_abs_angular_velocity,
		double	beta,
		double	lambda
	)

Constructor of the controller.

Parameters

k1	Ratio of rate of change of theta to rate of change of R.
k2	How quickly we converge to the slow manifold.
min_abs_velocity	The minimum absolute velocity in the linear direction.
max_abs_velocity	The maximum absolute velocity in the linear direction.
max_decel	The maximum deceleration in the linear direction.
max_abs_angular_velocity	The maximum absolute velocity in the angular direction.

Definition at line 32 of file graceful_controller.cpp.

Member Function Documentation

approach()

bool graceful_controller::GracefulController::approach	(	const double	x,
		const double	y,
		const double	theta,
		double &	vel_x,
		double &	vel_th,
		bool	backward_motion = false
	)

Implements something loosely based on "A Smooth Control Law for Graceful Motion of Differential Wheeled Mobile Robots in 2D Environments" by Park and Kuipers, ICRA 2011.

Parameters

x	The x coordinate of the goal, relative to robot base link.
y	The y coordinate of the goal, relative to robot base link.
theta	The angular orientation of the goal, relative to robot base link.
vel_x	The computed command velocity in the linear direction.
vel_th	The computed command velocity in the angular direction.
backward_motion	Flag to indicate that the robot should move backward. False by default.

Returns

true if there is a solution.

Definition at line 49 of file graceful_controller.cpp.

setVelocityLimits()

void graceful_controller::GracefulController::setVelocityLimits	(	const double	min_abs_velocity,
		const double	max_abs_velocity,
		const double	max_abs_angular_velocity
	)

Update the velocity limits.

Parameters

min_abs_velocity	The minimum absolute velocity in the linear direction.
max_abs_velocity	The maximum absolute velocity in the linear direction.
max_abs_angular_velocity	The maximum absolute velocity in the angular direction.

Definition at line 93 of file graceful_controller.cpp.

Member Data Documentation

beta_

double graceful_controller::GracefulController::beta_

private

Definition at line 85 of file graceful_controller.hpp.

dist_

double graceful_controller::GracefulController::dist_

private

Definition at line 87 of file graceful_controller.hpp.

k1_

double graceful_controller::GracefulController::k1_

private

Definition at line 79 of file graceful_controller.hpp.

k2_

double graceful_controller::GracefulController::k2_

private

Definition at line 80 of file graceful_controller.hpp.

lambda_

double graceful_controller::GracefulController::lambda_

private

Definition at line 86 of file graceful_controller.hpp.

max_abs_angular_velocity_

double graceful_controller::GracefulController::max_abs_angular_velocity_

private

Definition at line 84 of file graceful_controller.hpp.

max_abs_velocity_

double graceful_controller::GracefulController::max_abs_velocity_

private

Definition at line 82 of file graceful_controller.hpp.

max_decel_

double graceful_controller::GracefulController::max_decel_

private

Definition at line 83 of file graceful_controller.hpp.

min_abs_velocity_

double graceful_controller::GracefulController::min_abs_velocity_

private

Definition at line 81 of file graceful_controller.hpp.

---

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

• graceful_controller.hpp
• graceful_controller.cpp