BasePController Class Reference

List of all members.

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::ConstPtr &msg)
void	newGoal (const geometry_msgs::PoseStamped &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_)
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_
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_

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Detailed Description

Definition at line 97 of file nav_pcontroller.cc.

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Constructor & Destructor Documentation

BasePController::BasePController

(

)

Definition at line 187 of file nav_pcontroller.cc.

BasePController::~BasePController

(

)

Definition at line 220 of file nav_pcontroller.cc.

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Member Function Documentation

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

Definition at line 616 of file nav_pcontroller.cc.

void BasePController::compute_p_control

(

)

[private]

Definition at line 482 of file nav_pcontroller.cc.

void BasePController::cycle

(

)

[private]

Definition at line 517 of file nav_pcontroller.cc.

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

Definition at line 173 of file nav_pcontroller.cc.

void BasePController::main

(

)

Definition at line 227 of file nav_pcontroller.cc.

void BasePController::newGoal

(

const geometry_msgs::PoseStamped::ConstPtr &

msg

)

[private]

Definition at line 445 of file nav_pcontroller.cc.

void BasePController::newGoal

(

const geometry_msgs::PoseStamped &

msg

)

[private]

Definition at line 414 of file nav_pcontroller.cc.

void BasePController::newMoveBaseGoal

(

)

[private]

Definition at line 389 of file nav_pcontroller.cc.

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

Definition at line 167 of file nav_pcontroller.cc.

void BasePController::parseParams

(

)

[private]

Definition at line 240 of file nav_pcontroller.cc.

void BasePController::preemptMoveBaseGoal

(

)

[private]

Definition at line 405 of file nav_pcontroller.cc.

bool BasePController::retrieve_pose

(

)

[private]

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

Definition at line 458 of file nav_pcontroller.cc.

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

Definition at line 604 of file nav_pcontroller.cc.

void BasePController::stopRobot

(

)

[private]

Definition at line 599 of file nav_pcontroller.cc.

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Member Data Documentation

double BasePController::acc_ang_max_ [private]

Definition at line 103 of file nav_pcontroller.cc.

double BasePController::acc_lin_max_ [private]

Definition at line 103 of file nav_pcontroller.cc.

std::string BasePController::base_link_frame_ [private]

Definition at line 112 of file nav_pcontroller.cc.

BaseDistance BasePController::dist_control_ [private]

Definition at line 114 of file nav_pcontroller.cc.

ros::Duration BasePController::fail_timeout_ [private]

Definition at line 101 of file nav_pcontroller.cc.

double BasePController::fail_velocity_ [private]

Definition at line 102 of file nav_pcontroller.cc.

std::string BasePController::global_frame_ [private]

Definition at line 111 of file nav_pcontroller.cc.

bool BasePController::goal_set_ [private]

Definition at line 109 of file nav_pcontroller.cc.

bool BasePController::keep_distance_ [private]

Definition at line 109 of file nav_pcontroller.cc.

boost::mutex BasePController::lock [private]

Definition at line 123 of file nav_pcontroller.cc.

int BasePController::loop_rate_ [private]

Definition at line 104 of file nav_pcontroller.cc.

ros::Time BasePController::low_speed_time_ [private]

Definition at line 121 of file nav_pcontroller.cc.

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

Definition at line 156 of file nav_pcontroller.cc.

ros::NodeHandle BasePController::n_ [private]

Definition at line 116 of file nav_pcontroller.cc.

double BasePController::p_ [private]

Definition at line 103 of file nav_pcontroller.cc.

ros::Publisher BasePController::pub_vel_ [private]

Definition at line 119 of file nav_pcontroller.cc.

ros::Subscriber BasePController::sub_goal_ [private]

Definition at line 118 of file nav_pcontroller.cc.

tf::TransformListener BasePController::tf_ [private]

Definition at line 117 of file nav_pcontroller.cc.

double BasePController::th_goal_ [private]

Definition at line 107 of file nav_pcontroller.cc.

double BasePController::th_now_ [private]

Definition at line 108 of file nav_pcontroller.cc.

double BasePController::th_tolerance_ [private]

Definition at line 100 of file nav_pcontroller.cc.

double BasePController::vel_ang_max_ [private]

Definition at line 103 of file nav_pcontroller.cc.

double BasePController::vel_lin_max_ [private]

Definition at line 103 of file nav_pcontroller.cc.

double BasePController::vth_ [private]

Definition at line 106 of file nav_pcontroller.cc.

double BasePController::vx_ [private]

Definition at line 106 of file nav_pcontroller.cc.

double BasePController::vy_ [private]

Definition at line 106 of file nav_pcontroller.cc.

double BasePController::x_goal_ [private]

Definition at line 107 of file nav_pcontroller.cc.

double BasePController::x_now_ [private]

Definition at line 108 of file nav_pcontroller.cc.

double BasePController::xy_tolerance_ [private]

Definition at line 100 of file nav_pcontroller.cc.

double BasePController::y_goal_ [private]

Definition at line 107 of file nav_pcontroller.cc.

double BasePController::y_now_ [private]

Definition at line 108 of file nav_pcontroller.cc.

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

• nav_pcontroller.cc