#include <latched_stop_rotate_controller.h>

Public Member Functions
bool	computeVelocityCommandsStopRotate (geometry_msgs::Twist &cmd_vel, Eigen::Vector3f acc_lim, double sim_period, LocalPlannerUtil *planner_util, OdometryHelperRos &odom_helper, tf::Stamped< tf::Pose > global_pose, boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)> obstacle_check)
bool	isGoalReached (LocalPlannerUtil *planner_util, OdometryHelperRos &odom_helper, tf::Stamped< tf::Pose > global_pose)
bool	isPositionReached (LocalPlannerUtil *planner_util, tf::Stamped< tf::Pose > global_pose)
	LatchedStopRotateController ()
void	resetLatching ()
bool	rotateToGoal (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, double goal_th, geometry_msgs::Twist &cmd_vel, Eigen::Vector3f acc_lim, double sim_period, base_local_planner::LocalPlannerLimits &limits, boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)> obstacle_check)
	Once a goal position is reached... rotate to the goal orientation.
bool	stopWithAccLimits (const tf::Stamped< tf::Pose > &global_pose, const tf::Stamped< tf::Pose > &robot_vel, geometry_msgs::Twist &cmd_vel, Eigen::Vector3f acc_lim, double sim_period, boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)> obstacle_check)
	Stop the robot taking into account acceleration limits.
virtual	~LatchedStopRotateController ()
Private Member Functions
double	sign (double x)
Private Attributes
bool	latch_xy_goal_tolerance_
bool	rotating_to_goal_
bool	xy_tolerance_latch_

Detailed Description

Definition at line 20 of file latched_stop_rotate_controller.h.

Constructor & Destructor Documentation

base_local_planner::LatchedStopRotateController::LatchedStopRotateController ( )

Definition at line 22 of file latched_stop_rotate_controller.cpp.

base_local_planner::LatchedStopRotateController::~LatchedStopRotateController ( ) [virtual]

Definition at line 26 of file latched_stop_rotate_controller.cpp.

Member Function Documentation

bool base_local_planner::LatchedStopRotateController::computeVelocityCommandsStopRotate	(	geometry_msgs::Twist &	cmd_vel,
		Eigen::Vector3f	acc_lim,
		double	sim_period,
		LocalPlannerUtil *	planner_util,
		OdometryHelperRos &	odom_helper,
		tf::Stamped< tf::Pose >	global_pose,
		boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)>	obstacle_check
	)

Definition at line 194 of file latched_stop_rotate_controller.cpp.

bool base_local_planner::LatchedStopRotateController::isGoalReached	(	LocalPlannerUtil *	planner_util,
		OdometryHelperRos &	odom_helper,
		tf::Stamped< tf::Pose >	global_pose
	)

returns true if we have passed the goal position and have reached goal orientation. Meaning we might have overshot on the position beyond tolerance, yet still return true.

Definition at line 61 of file latched_stop_rotate_controller.cpp.

bool base_local_planner::LatchedStopRotateController::isPositionReached	(	LocalPlannerUtil *	planner_util,
		tf::Stamped< tf::Pose >	global_pose
	)

returns true if we have passed the goal position. Meaning we might have overshot on the position beyond tolerance, yet still return true. Also goal orientation might not yet be true

Definition at line 34 of file latched_stop_rotate_controller.cpp.

void base_local_planner::LatchedStopRotateController::resetLatching ( ) [inline]

Definition at line 32 of file latched_stop_rotate_controller.h.

bool base_local_planner::LatchedStopRotateController::rotateToGoal	(	const tf::Stamped< tf::Pose > &	global_pose,
		const tf::Stamped< tf::Pose > &	robot_vel,
		double	goal_th,
		geometry_msgs::Twist &	cmd_vel,
		Eigen::Vector3f	acc_lim,
		double	sim_period,
		base_local_planner::LocalPlannerLimits &	limits,
		boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)>	obstacle_check
	)

Once a goal position is reached... rotate to the goal orientation.

Parameters:

global_pose	The pose of the robot in the global frame
robot_vel	The velocity of the robot
goal_th	The desired th value for the goal
cmd_vel	The velocity commands to be filled

Returns:: True if a valid trajectory was found, false otherwise

Definition at line 143 of file latched_stop_rotate_controller.cpp.

double base_local_planner::LatchedStopRotateController::sign ( double x ) [inline, private]

Definition at line 82 of file latched_stop_rotate_controller.h.

bool base_local_planner::LatchedStopRotateController::stopWithAccLimits	(	const tf::Stamped< tf::Pose > &	global_pose,
		const tf::Stamped< tf::Pose > &	robot_vel,
		geometry_msgs::Twist &	cmd_vel,
		Eigen::Vector3f	acc_lim,
		double	sim_period,
		boost::function< bool(Eigen::Vector3f pos, Eigen::Vector3f vel, Eigen::Vector3f vel_samples)>	obstacle_check
	)