trajectory_tracker::TrackerNode Class Reference

Classes
struct	TrackingResult

Public Member Functions
void	spin ()
	TrackerNode ()
	~TrackerNode ()

Private Member Functions
void	cbOdometry (const nav_msgs::Odometry::ConstPtr &)
void	cbOdomTimeout (const ros::TimerEvent &)
void	cbParameter (const TrajectoryTrackerConfig &config, const uint32_t)
template<typename MSG_TYPE >
void	cbPath (const typename MSG_TYPE::ConstPtr &)
void	cbSpeed (const std_msgs::Float32::ConstPtr &)
void	cbTimer (const ros::TimerEvent &)
void	control (const tf2::Stamped< tf2::Transform > &, const Eigen::Vector3d &, const double, const double, const double)
TrackingResult	getTrackingResult (const tf2::Stamped< tf2::Transform > &, const Eigen::Vector3d &, const double, const double) const

Private Attributes
double	acc_ [2]
double	acc_toc_ [2]
bool	allow_backward_
bool	check_old_path_
double	curv_forward_
double	d_lim_
double	d_stop_
double	epsilon_
std::string	frame_odom_
std::string	frame_robot_
double	gain_at_vel_
double	goal_tolerance_ang_
double	goal_tolerance_ang_vel_
double	goal_tolerance_dist_
double	goal_tolerance_lin_vel_
double	hz_
bool	is_path_updated_
double	k_ [3]
double	k_ang_rotation_
double	k_avel_rotation_
bool	limit_vel_by_avel_
double	look_forward_
double	max_dt_
double	min_track_path_
ros::NodeHandle	nh_
double	no_pos_cntl_dist_
double	odom_timeout_sec_
ros::Timer	odom_timeout_timer_
dynamic_reconfigure::Server< TrajectoryTrackerConfig >	parameter_server_
boost::recursive_mutex	parameter_server_mutex_
trajectory_tracker::Path2D	path_
std_msgs::Header	path_header_
int	path_step_
int	path_step_done_
ros::NodeHandle	pnh_
bool	predict_odom_
ros::Time	prev_odom_stamp_
ros::Publisher	pub_status_
ros::Publisher	pub_tracking_
ros::Publisher	pub_vel_
double	rotate_ang_
double	stop_tolerance_ang_
double	stop_tolerance_dist_
ros::Subscriber	sub_odom_
ros::Subscriber	sub_path_
ros::Subscriber	sub_path_velocity_
ros::Subscriber	sub_vel_
tf2_ros::Buffer	tfbuf_
tf2_ros::TransformListener	tfl_
double	time_optimal_control_future_gain_
std::string	topic_cmd_vel_
std::string	topic_path_
bool	use_odom_
bool	use_time_optimal_control_
trajectory_tracker::VelAccLimitter	v_lim_
double	vel_ [2]
trajectory_tracker::VelAccLimitter	w_lim_

Detailed Description

Definition at line 77 of file trajectory_tracker.cpp.

Constructor & Destructor Documentation

TrackerNode()

trajectory_tracker::TrackerNode::TrackerNode

(

)

Definition at line 193 of file trajectory_tracker.cpp.

~TrackerNode()

trajectory_tracker::TrackerNode::~TrackerNode

(

)

Definition at line 272 of file trajectory_tracker.cpp.

Member Function Documentation

cbOdometry()

void trajectory_tracker::TrackerNode::cbOdometry ( const nav_msgs::Odometry::ConstPtr &  odom )

private

Definition at line 303 of file trajectory_tracker.cpp.

cbOdomTimeout()

void trajectory_tracker::TrackerNode::cbOdomTimeout ( const ros::TimerEvent &  event )

private

Definition at line 381 of file trajectory_tracker.cpp.

cbParameter()

void trajectory_tracker::TrackerNode::cbParameter ( const TrajectoryTrackerConfig &  config, const uint32_t    )

private

Definition at line 235 of file trajectory_tracker.cpp.

cbPath()

template<typename MSG_TYPE >

void trajectory_tracker::TrackerNode::cbPath ( const typename MSG_TYPE::ConstPtr &  msg )

private

Definition at line 286 of file trajectory_tracker.cpp.

cbSpeed()

void trajectory_tracker::TrackerNode::cbSpeed ( const std_msgs::Float32::ConstPtr &  msg )

private

Definition at line 280 of file trajectory_tracker.cpp.

cbTimer()

void trajectory_tracker::TrackerNode::cbTimer ( const ros::TimerEvent &  event )

private

Definition at line 358 of file trajectory_tracker.cpp.

control()

void trajectory_tracker::TrackerNode::control ( const tf2::Stamped< tf2::Transform > &  odom_to_robot, const Eigen::Vector3d &  prediction_offset, const double  odom_linear_vel, const double  odom_angular_vel, const double  dt  )

private

Definition at line 410 of file trajectory_tracker.cpp.

getTrackingResult()

TrackerNode::TrackingResult trajectory_tracker::TrackerNode::getTrackingResult ( const tf2::Stamped< tf2::Transform > &  odom_to_robot, const Eigen::Vector3d &  prediction_offset, const double  odom_linear_vel, const double  odom_angular_vel  ) const

private

Definition at line 515 of file trajectory_tracker.cpp.

spin()

void trajectory_tracker::TrackerNode::spin

(

)

Definition at line 400 of file trajectory_tracker.cpp.

Member Data Documentation

acc_

double trajectory_tracker::TrackerNode::acc_[2]

private

Definition at line 97 of file trajectory_tracker.cpp.

acc_toc_

double trajectory_tracker::TrackerNode::acc_toc_[2]

private

Definition at line 98 of file trajectory_tracker.cpp.

allow_backward_

bool trajectory_tracker::TrackerNode::allow_backward_

private

Definition at line 110 of file trajectory_tracker.cpp.

check_old_path_

bool trajectory_tracker::TrackerNode::check_old_path_

private

Definition at line 112 of file trajectory_tracker.cpp.

curv_forward_

double trajectory_tracker::TrackerNode::curv_forward_

private

Definition at line 91 of file trajectory_tracker.cpp.

d_lim_

double trajectory_tracker::TrackerNode::d_lim_

private

Definition at line 94 of file trajectory_tracker.cpp.

d_stop_

double trajectory_tracker::TrackerNode::d_stop_

private

Definition at line 95 of file trajectory_tracker.cpp.

epsilon_

double trajectory_tracker::TrackerNode::epsilon_

private

Definition at line 113 of file trajectory_tracker.cpp.

frame_odom_

std::string trajectory_tracker::TrackerNode::frame_odom_

private

Definition at line 88 of file trajectory_tracker.cpp.

frame_robot_

std::string trajectory_tracker::TrackerNode::frame_robot_

private

Definition at line 87 of file trajectory_tracker.cpp.

gain_at_vel_

double trajectory_tracker::TrackerNode::gain_at_vel_

private

Definition at line 93 of file trajectory_tracker.cpp.

goal_tolerance_ang_

double trajectory_tracker::TrackerNode::goal_tolerance_ang_

private

Definition at line 103 of file trajectory_tracker.cpp.

goal_tolerance_ang_vel_

double trajectory_tracker::TrackerNode::goal_tolerance_ang_vel_

private

Definition at line 120 of file trajectory_tracker.cpp.

goal_tolerance_dist_

double trajectory_tracker::TrackerNode::goal_tolerance_dist_

private

Definition at line 102 of file trajectory_tracker.cpp.

goal_tolerance_lin_vel_

double trajectory_tracker::TrackerNode::goal_tolerance_lin_vel_

private

Definition at line 119 of file trajectory_tracker.cpp.

hz_

double trajectory_tracker::TrackerNode::hz_

private

Definition at line 89 of file trajectory_tracker.cpp.

is_path_updated_

bool trajectory_tracker::TrackerNode::is_path_updated_

private

Definition at line 138 of file trajectory_tracker.cpp.

k_

double trajectory_tracker::TrackerNode::k_[3]

private

Definition at line 92 of file trajectory_tracker.cpp.

k_ang_rotation_

double trajectory_tracker::TrackerNode::k_ang_rotation_

private

Definition at line 117 of file trajectory_tracker.cpp.

k_avel_rotation_

double trajectory_tracker::TrackerNode::k_avel_rotation_

private

Definition at line 118 of file trajectory_tracker.cpp.

limit_vel_by_avel_

bool trajectory_tracker::TrackerNode::limit_vel_by_avel_

private

Definition at line 111 of file trajectory_tracker.cpp.

look_forward_

double trajectory_tracker::TrackerNode::look_forward_

private

Definition at line 90 of file trajectory_tracker.cpp.

max_dt_

double trajectory_tracker::TrackerNode::max_dt_

private

Definition at line 114 of file trajectory_tracker.cpp.

min_track_path_

double trajectory_tracker::TrackerNode::min_track_path_

private

Definition at line 107 of file trajectory_tracker.cpp.

nh_

ros::NodeHandle trajectory_tracker::TrackerNode::nh_

private

Definition at line 129 of file trajectory_tracker.cpp.

no_pos_cntl_dist_

double trajectory_tracker::TrackerNode::no_pos_cntl_dist_

private

Definition at line 106 of file trajectory_tracker.cpp.

odom_timeout_sec_

double trajectory_tracker::TrackerNode::odom_timeout_sec_

private

Definition at line 134 of file trajectory_tracker.cpp.

odom_timeout_timer_

ros::Timer trajectory_tracker::TrackerNode::odom_timeout_timer_

private

Definition at line 133 of file trajectory_tracker.cpp.

parameter_server_

dynamic_reconfigure::Server<TrajectoryTrackerConfig> trajectory_tracker::TrackerNode::parameter_server_

private

Definition at line 141 of file trajectory_tracker.cpp.

parameter_server_mutex_

boost::recursive_mutex trajectory_tracker::TrackerNode::parameter_server_mutex_

mutableprivate

Definition at line 140 of file trajectory_tracker.cpp.

path_

trajectory_tracker::Path2D trajectory_tracker::TrackerNode::path_

private

Definition at line 136 of file trajectory_tracker.cpp.

path_header_

std_msgs::Header trajectory_tracker::TrackerNode::path_header_

private

Definition at line 137 of file trajectory_tracker.cpp.

path_step_

int trajectory_tracker::TrackerNode::path_step_

private

Definition at line 108 of file trajectory_tracker.cpp.

path_step_done_

int trajectory_tracker::TrackerNode::path_step_done_

private

Definition at line 109 of file trajectory_tracker.cpp.

pnh_

ros::NodeHandle trajectory_tracker::TrackerNode::pnh_

private

Definition at line 130 of file trajectory_tracker.cpp.

predict_odom_

bool trajectory_tracker::TrackerNode::predict_odom_

private

Definition at line 144 of file trajectory_tracker.cpp.

prev_odom_stamp_

ros::Time trajectory_tracker::TrackerNode::prev_odom_stamp_

private

Definition at line 145 of file trajectory_tracker.cpp.

pub_status_

ros::Publisher trajectory_tracker::TrackerNode::pub_status_

private

Definition at line 127 of file trajectory_tracker.cpp.

pub_tracking_

ros::Publisher trajectory_tracker::TrackerNode::pub_tracking_

private

Definition at line 128 of file trajectory_tracker.cpp.

pub_vel_

ros::Publisher trajectory_tracker::TrackerNode::pub_vel_

private

Definition at line 126 of file trajectory_tracker.cpp.

rotate_ang_

double trajectory_tracker::TrackerNode::rotate_ang_

private

Definition at line 101 of file trajectory_tracker.cpp.

stop_tolerance_ang_

double trajectory_tracker::TrackerNode::stop_tolerance_ang_

private

Definition at line 105 of file trajectory_tracker.cpp.

stop_tolerance_dist_

double trajectory_tracker::TrackerNode::stop_tolerance_dist_

private

Definition at line 104 of file trajectory_tracker.cpp.

sub_odom_

ros::Subscriber trajectory_tracker::TrackerNode::sub_odom_

private

Definition at line 125 of file trajectory_tracker.cpp.

sub_path_

ros::Subscriber trajectory_tracker::TrackerNode::sub_path_

private

Definition at line 122 of file trajectory_tracker.cpp.

sub_path_velocity_

ros::Subscriber trajectory_tracker::TrackerNode::sub_path_velocity_

private

Definition at line 123 of file trajectory_tracker.cpp.

sub_vel_

ros::Subscriber trajectory_tracker::TrackerNode::sub_vel_

private

Definition at line 124 of file trajectory_tracker.cpp.

tfbuf_

tf2_ros::Buffer trajectory_tracker::TrackerNode::tfbuf_

private

Definition at line 131 of file trajectory_tracker.cpp.

tfl_

tf2_ros::TransformListener trajectory_tracker::TrackerNode::tfl_

private

Definition at line 132 of file trajectory_tracker.cpp.

time_optimal_control_future_gain_

double trajectory_tracker::TrackerNode::time_optimal_control_future_gain_

private

Definition at line 116 of file trajectory_tracker.cpp.

topic_cmd_vel_

std::string trajectory_tracker::TrackerNode::topic_cmd_vel_

private

Definition at line 86 of file trajectory_tracker.cpp.

topic_path_

std::string trajectory_tracker::TrackerNode::topic_path_

private

Definition at line 85 of file trajectory_tracker.cpp.

use_odom_

bool trajectory_tracker::TrackerNode::use_odom_

private

Definition at line 143 of file trajectory_tracker.cpp.

use_time_optimal_control_

bool trajectory_tracker::TrackerNode::use_time_optimal_control_

private

Definition at line 115 of file trajectory_tracker.cpp.

v_lim_

trajectory_tracker::VelAccLimitter trajectory_tracker::TrackerNode::v_lim_

private

Definition at line 99 of file trajectory_tracker.cpp.

vel_

double trajectory_tracker::TrackerNode::vel_[2]

private

Definition at line 96 of file trajectory_tracker.cpp.

w_lim_

trajectory_tracker::VelAccLimitter trajectory_tracker::TrackerNode::w_lim_

private

Definition at line 100 of file trajectory_tracker.cpp.

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

• trajectory_tracker.cpp