eband_local_planner Namespace Reference

Namespaces
namespace	msg
Classes
struct	Bubble
	< More...
class	EBandPlanner
	Implements the Elastic Band Method for SE2-Manifold (mobile Base) More...
class	EBandPlannerROS
	Plugin to the ros base_local_planner. Implements a wrapper for the Elastic Band Method. More...
class	EBandTrajectoryCtrl
class	EBandVisualization
struct	FollowBaseTrajectoryAction_
struct	FollowBaseTrajectoryActionFeedback_
struct	FollowBaseTrajectoryActionGoal_
struct	FollowBaseTrajectoryActionResult_
struct	FollowBaseTrajectoryFeedback_
struct	FollowBaseTrajectoryGoal_
struct	FollowBaseTrajectoryResult_
class	Node
struct	ScopedCostmapActivate
Typedefs
typedef ::eband_local_planner::FollowBaseTrajectoryAction_ < std::allocator< void > >	FollowBaseTrajectoryAction
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryAction const >	FollowBaseTrajectoryActionConstPtr
typedef ::eband_local_planner::FollowBaseTrajectoryActionFeedback_ < std::allocator< void > >	FollowBaseTrajectoryActionFeedback
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryActionFeedback const >	FollowBaseTrajectoryActionFeedbackConstPtr
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryActionFeedback >	FollowBaseTrajectoryActionFeedbackPtr
typedef ::eband_local_planner::FollowBaseTrajectoryActionGoal_ < std::allocator< void > >	FollowBaseTrajectoryActionGoal
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryActionGoal const >	FollowBaseTrajectoryActionGoalConstPtr
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryActionGoal >	FollowBaseTrajectoryActionGoalPtr
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryAction >	FollowBaseTrajectoryActionPtr
typedef ::eband_local_planner::FollowBaseTrajectoryActionResult_ < std::allocator< void > >	FollowBaseTrajectoryActionResult
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryActionResult const >	FollowBaseTrajectoryActionResultConstPtr
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryActionResult >	FollowBaseTrajectoryActionResultPtr
typedef ::eband_local_planner::FollowBaseTrajectoryFeedback_ < std::allocator< void > >	FollowBaseTrajectoryFeedback
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryFeedback const >	FollowBaseTrajectoryFeedbackConstPtr
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryFeedback >	FollowBaseTrajectoryFeedbackPtr
typedef ::eband_local_planner::FollowBaseTrajectoryGoal_ < std::allocator< void > >	FollowBaseTrajectoryGoal
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryGoal const >	FollowBaseTrajectoryGoalConstPtr
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryGoal >	FollowBaseTrajectoryGoalPtr
typedef ::eband_local_planner::FollowBaseTrajectoryResult_ < std::allocator< void > >	FollowBaseTrajectoryResult
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryResult const >	FollowBaseTrajectoryResultConstPtr
typedef boost::shared_ptr < ::eband_local_planner::FollowBaseTrajectoryResult >	FollowBaseTrajectoryResultPtr
typedef FollowBaseTrajectoryGoalConstPtr	GoalPtr
typedef boost::mutex::scoped_lock	Lock
typedef FollowBaseTrajectoryResult	Result
Enumerations
enum	AddAtPosition { add_front, add_back }
Functions
double	angularDiff (const geometry_msgs::Twist &heading, const geometry_msgs::Pose &pose)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::eband_local_planner::FollowBaseTrajectoryResult_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::eband_local_planner::FollowBaseTrajectoryFeedback_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::eband_local_planner::FollowBaseTrajectoryGoal_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::eband_local_planner::FollowBaseTrajectoryAction_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::eband_local_planner::FollowBaseTrajectoryActionFeedback_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::eband_local_planner::FollowBaseTrajectoryActionResult_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::eband_local_planner::FollowBaseTrajectoryActionGoal_< ContainerAllocator > &v)
void	Pose2DToPose (geometry_msgs::Pose &pose, const geometry_msgs::Pose2D pose2D)
	Converts a frame of type Pose to type Pose2D (mainly -> conversion of orientation from euler angles to quaternions, -> z-coordinate is set to zero)
void	PoseToPose2D (const geometry_msgs::Pose pose, geometry_msgs::Pose2D &pose2D)
	Converts a frame of type Pose to type Pose2D (mainly -> conversion of orientation from quaternions to euler angles)
Result	result (const string &msg)
Result	result (const format &f)
bool	transformGlobalPlan (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2DROS &costmap, const std::string &global_frame, std::vector< geometry_msgs::PoseStamped > &transformed_plan, std::vector< int > &start_end_counts_from_end)
	Transforms the global plan of the robot from the planner frame to the local frame. This replaces the transformGlobalPlan as defined in the base_local_planner/goal_functions.h main difference is that it additionally outputs counter indicating which part of the plan has been transformed.
gm::Twist	zeroVelocity ()

---

Typedef Documentation

typedef ::eband_local_planner::FollowBaseTrajectoryAction_<std::allocator<void> > eband_local_planner::FollowBaseTrajectoryAction

Definition at line 55 of file FollowBaseTrajectoryAction.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryAction const> eband_local_planner::FollowBaseTrajectoryActionConstPtr

Definition at line 58 of file FollowBaseTrajectoryAction.h.

typedef ::eband_local_planner::FollowBaseTrajectoryActionFeedback_<std::allocator<void> > eband_local_planner::FollowBaseTrajectoryActionFeedback

Definition at line 55 of file FollowBaseTrajectoryActionFeedback.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryActionFeedback const> eband_local_planner::FollowBaseTrajectoryActionFeedbackConstPtr

Definition at line 58 of file FollowBaseTrajectoryActionFeedback.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryActionFeedback> eband_local_planner::FollowBaseTrajectoryActionFeedbackPtr

Definition at line 57 of file FollowBaseTrajectoryActionFeedback.h.

typedef ::eband_local_planner::FollowBaseTrajectoryActionGoal_<std::allocator<void> > eband_local_planner::FollowBaseTrajectoryActionGoal

Definition at line 55 of file FollowBaseTrajectoryActionGoal.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryActionGoal const> eband_local_planner::FollowBaseTrajectoryActionGoalConstPtr

Definition at line 58 of file FollowBaseTrajectoryActionGoal.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryActionGoal> eband_local_planner::FollowBaseTrajectoryActionGoalPtr

Definition at line 57 of file FollowBaseTrajectoryActionGoal.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryAction> eband_local_planner::FollowBaseTrajectoryActionPtr

Definition at line 57 of file FollowBaseTrajectoryAction.h.

typedef ::eband_local_planner::FollowBaseTrajectoryActionResult_<std::allocator<void> > eband_local_planner::FollowBaseTrajectoryActionResult

Definition at line 55 of file FollowBaseTrajectoryActionResult.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryActionResult const> eband_local_planner::FollowBaseTrajectoryActionResultConstPtr

Definition at line 58 of file FollowBaseTrajectoryActionResult.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryActionResult> eband_local_planner::FollowBaseTrajectoryActionResultPtr

Definition at line 57 of file FollowBaseTrajectoryActionResult.h.

typedef ::eband_local_planner::FollowBaseTrajectoryFeedback_<std::allocator<void> > eband_local_planner::FollowBaseTrajectoryFeedback

Definition at line 42 of file FollowBaseTrajectoryFeedback.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryFeedback const> eband_local_planner::FollowBaseTrajectoryFeedbackConstPtr

Definition at line 45 of file FollowBaseTrajectoryFeedback.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryFeedback> eband_local_planner::FollowBaseTrajectoryFeedbackPtr

Definition at line 44 of file FollowBaseTrajectoryFeedback.h.

typedef ::eband_local_planner::FollowBaseTrajectoryGoal_<std::allocator<void> > eband_local_planner::FollowBaseTrajectoryGoal

Definition at line 43 of file FollowBaseTrajectoryGoal.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryGoal const> eband_local_planner::FollowBaseTrajectoryGoalConstPtr

Definition at line 46 of file FollowBaseTrajectoryGoal.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryGoal> eband_local_planner::FollowBaseTrajectoryGoalPtr

Definition at line 45 of file FollowBaseTrajectoryGoal.h.

typedef ::eband_local_planner::FollowBaseTrajectoryResult_<std::allocator<void> > eband_local_planner::FollowBaseTrajectoryResult

Definition at line 42 of file FollowBaseTrajectoryResult.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryResult const> eband_local_planner::FollowBaseTrajectoryResultConstPtr

Definition at line 45 of file FollowBaseTrajectoryResult.h.

typedef boost::shared_ptr< ::eband_local_planner::FollowBaseTrajectoryResult> eband_local_planner::FollowBaseTrajectoryResultPtr

Definition at line 44 of file FollowBaseTrajectoryResult.h.

typedef FollowBaseTrajectoryGoalConstPtr eband_local_planner::GoalPtr

Definition at line 61 of file eband_action.cpp.

typedef boost::mutex::scoped_lock eband_local_planner::Lock

Definition at line 63 of file eband_action.cpp.

typedef FollowBaseTrajectoryResult eband_local_planner::Result

Definition at line 62 of file eband_action.cpp.

---

Enumeration Type Documentation

enum eband_local_planner::AddAtPosition

Enumerator:

add_front
add_back

Definition at line 70 of file conversions_and_types.h.

---

Function Documentation

double eband_local_planner::angularDiff	(	const geometry_msgs::Twist &	heading,
		const geometry_msgs::Pose &	pose
	)

Definition at line 157 of file eband_trajectory_controller.cpp.

template<typename ContainerAllocator >

std::ostream& eband_local_planner::operator<<	(	std::ostream &	s,
		const ::eband_local_planner::FollowBaseTrajectoryResult_< ContainerAllocator > &	v
	)

Definition at line 49 of file FollowBaseTrajectoryResult.h.

template<typename ContainerAllocator >

std::ostream& eband_local_planner::operator<<	(	std::ostream &	s,
		const ::eband_local_planner::FollowBaseTrajectoryFeedback_< ContainerAllocator > &	v
	)

Definition at line 49 of file FollowBaseTrajectoryFeedback.h.

template<typename ContainerAllocator >

std::ostream& eband_local_planner::operator<<	(	std::ostream &	s,
		const ::eband_local_planner::FollowBaseTrajectoryGoal_< ContainerAllocator > &	v
	)

Definition at line 50 of file FollowBaseTrajectoryGoal.h.

template<typename ContainerAllocator >

std::ostream& eband_local_planner::operator<<	(	std::ostream &	s,
		const ::eband_local_planner::FollowBaseTrajectoryAction_< ContainerAllocator > &	v
	)

Definition at line 62 of file FollowBaseTrajectoryAction.h.

template<typename ContainerAllocator >

std::ostream& eband_local_planner::operator<<	(	std::ostream &	s,
		const ::eband_local_planner::FollowBaseTrajectoryActionFeedback_< ContainerAllocator > &	v
	)

Definition at line 62 of file FollowBaseTrajectoryActionFeedback.h.

template<typename ContainerAllocator >

std::ostream& eband_local_planner::operator<<	(	std::ostream &	s,
		const ::eband_local_planner::FollowBaseTrajectoryActionResult_< ContainerAllocator > &	v
	)

Definition at line 62 of file FollowBaseTrajectoryActionResult.h.

template<typename ContainerAllocator >

std::ostream& eband_local_planner::operator<<	(	std::ostream &	s,
		const ::eband_local_planner::FollowBaseTrajectoryActionGoal_< ContainerAllocator > &	v
	)

Definition at line 62 of file FollowBaseTrajectoryActionGoal.h.

void eband_local_planner::Pose2DToPose	(	geometry_msgs::Pose &	pose,
		const geometry_msgs::Pose2D	pose2D
	)

Converts a frame of type Pose to type Pose2D (mainly -> conversion of orientation from euler angles to quaternions, -> z-coordinate is set to zero)

Parameters:

References	to converted ROS Pose2D frame
Pose2D	which shall be converted

Definition at line 69 of file conversions_and_types.cpp.

void eband_local_planner::PoseToPose2D	(	const geometry_msgs::Pose	pose,
		geometry_msgs::Pose2D &	pose2D
	)

Converts a frame of type Pose to type Pose2D (mainly -> conversion of orientation from quaternions to euler angles)

Parameters:

Pose	which shall be converted
References	to converted ROS Pose2D frmae

Definition at line 45 of file conversions_and_types.cpp.

Result eband_local_planner::result

(

const string &

msg

)

Definition at line 65 of file eband_action.cpp.

Result eband_local_planner::result

(

const format &

f

)

Definition at line 72 of file eband_action.cpp.

bool eband_local_planner::transformGlobalPlan	(	const tf::TransformListener &	tf,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan,
		const costmap_2d::Costmap2DROS &	costmap,
		const std::string &	global_frame,
		std::vector< geometry_msgs::PoseStamped > &	transformed_plan,
		std::vector< int > &	start_end_counts_from_end
	)

Transforms the global plan of the robot from the planner frame to the local frame. This replaces the transformGlobalPlan as defined in the base_local_planner/goal_functions.h main difference is that it additionally outputs counter indicating which part of the plan has been transformed.

Parameters:

tf	A reference to a transform listener
global_plan	The plan to be transformed
costmap	A reference to the costmap being used so the window size for transforming can be computed
global_frame	The frame to transform the plan to
transformed_plan	Populated with the transformed plan
number	of start and end frame counted from the end of the global plan

Definition at line 92 of file conversions_and_types.cpp.

gm::Twist eband_local_planner::zeroVelocity

(

)

[inline]

Definition at line 118 of file eband_action.cpp.