Public Member Functions | Private Member Functions | Private Attributes
BasePController Class Reference

#include <nav_pcontroller.h>

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

Detailed Description

This is a P controller for navigation. Yeah, this line is a todo...

ROS topics

Subscribes to (name/type):

Publishes to (name / type):

Actionlib (name / type):

ROS parameters

Definition at line 79 of file nav_pcontroller.h.


Constructor & Destructor Documentation

Definition at line 57 of file nav_pcontroller.cc.

Definition at line 76 of file nav_pcontroller.cc.


Member Function Documentation

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

Definition at line 332 of file nav_pcontroller.cc.

Definition at line 217 of file nav_pcontroller.cc.

void BasePController::cycle ( ) [private]

Definition at line 252 of file nav_pcontroller.cc.

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

Definition at line 50 of file nav_pcontroller.cc.

Definition at line 80 of file nav_pcontroller.cc.

void BasePController::newGoal ( const geometry_msgs::PoseStamped &  msg) [private]

Definition at line 152 of file nav_pcontroller.cc.

void BasePController::newGoal ( const geometry_msgs::PoseStamped::ConstPtr &  msg) [private]

Definition at line 184 of file nav_pcontroller.cc.

Definition at line 132 of file nav_pcontroller.cc.

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

Definition at line 44 of file nav_pcontroller.cc.

void BasePController::parseParams ( ) [private]

Definition at line 93 of file nav_pcontroller.cc.

Definition at line 143 of file nav_pcontroller.cc.

bool BasePController::retrieve_pose ( ) [private]

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

Definition at line 193 of file nav_pcontroller.cc.

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

Definition at line 320 of file nav_pcontroller.cc.

void BasePController::stopRobot ( ) [private]

Definition at line 315 of file nav_pcontroller.cc.


Member Data Documentation

Definition at line 85 of file nav_pcontroller.h.

Definition at line 85 of file nav_pcontroller.h.

std::string BasePController::base_link_frame_ [private]

Definition at line 96 of file nav_pcontroller.h.

Definition at line 98 of file nav_pcontroller.h.

Definition at line 83 of file nav_pcontroller.h.

Definition at line 84 of file nav_pcontroller.h.

std::string BasePController::global_frame_ [private]

Definition at line 95 of file nav_pcontroller.h.

Definition at line 91 of file nav_pcontroller.h.

Definition at line 91 of file nav_pcontroller.h.

Definition at line 93 of file nav_pcontroller.h.

boost::mutex BasePController::lock [private]

Definition at line 107 of file nav_pcontroller.h.

Definition at line 86 of file nav_pcontroller.h.

Definition at line 105 of file nav_pcontroller.h.

Definition at line 125 of file nav_pcontroller.h.

Definition at line 100 of file nav_pcontroller.h.

double BasePController::p_ [private]

Definition at line 85 of file nav_pcontroller.h.

Definition at line 103 of file nav_pcontroller.h.

Definition at line 102 of file nav_pcontroller.h.

Definition at line 101 of file nav_pcontroller.h.

double BasePController::th_goal_ [private]

Definition at line 89 of file nav_pcontroller.h.

double BasePController::th_now_ [private]

Definition at line 90 of file nav_pcontroller.h.

Definition at line 82 of file nav_pcontroller.h.

Definition at line 85 of file nav_pcontroller.h.

Definition at line 85 of file nav_pcontroller.h.

double BasePController::vth_ [private]

Definition at line 88 of file nav_pcontroller.h.

double BasePController::vx_ [private]

Definition at line 88 of file nav_pcontroller.h.

double BasePController::vy_ [private]

Definition at line 88 of file nav_pcontroller.h.

double BasePController::x_goal_ [private]

Definition at line 89 of file nav_pcontroller.h.

double BasePController::x_now_ [private]

Definition at line 90 of file nav_pcontroller.h.

Definition at line 82 of file nav_pcontroller.h.

double BasePController::y_goal_ [private]

Definition at line 89 of file nav_pcontroller.h.

double BasePController::y_now_ [private]

Definition at line 90 of file nav_pcontroller.h.


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


nav_pcontroller
Author(s): Ingo Kresse
autogenerated on Thu Jun 6 2019 20:28:18