assisted_teleop.h
Go to the documentation of this file.
00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033 *  POSSIBILITY OF SUCH DAMAGE.
00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef ASSISTED_TELEOP_ASSISTED_TELEOP_H_
00038 #define ASSISTED_TELEOP_ASSISTED_TELEOP_H_
00039 #include <ros/ros.h>
00040 #include <geometry_msgs/Twist.h>
00041 #include <costmap_2d/costmap_2d_ros.h>
00042 #include <base_local_planner/trajectory_planner_ros.h>
00043 #include <boost/shared_ptr.hpp>
00044 #include <boost/thread.hpp>
00045 #include <Eigen/Core>
00046 
00047 namespace assisted_teleop {
00048   class AssistedTeleop {
00049     public:
00050       AssistedTeleop();
00051       ~AssistedTeleop();
00052     private:
00053       void velCB(const geometry_msgs::TwistConstPtr& vel);
00054       void controlLoop();
00055 
00056       tf::TransformListener tf_;
00057       costmap_2d::Costmap2DROS costmap_ros_;
00058       double controller_frequency_;
00059       base_local_planner::TrajectoryPlannerROS planner_;
00060       boost::mutex mutex_;
00061       geometry_msgs::Twist cmd_vel_;
00062       boost::thread* planning_thread_;
00063       double theta_range_;
00064       int num_th_samples_, num_x_samples_;
00065       ros::Publisher pub_;
00066       ros::Subscriber sub_;
00067       double collision_trans_speed_, collision_rot_speed_;
00068   };
00069 };
00070 #endif


assisted_teleop
Author(s): Tully Foote
autogenerated on Fri Jan 3 2014 11:34:39