pose_follower::HectorPathFollower Class Reference

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.

pose_follower::HectorPathFollower::HectorPathFollower ( )

Definition at line 36 of file hector_path_follower.cpp.

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 ) [inline, private]

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]`