TrajectoryTrackerTest Class Reference

#include <trajectory_tracker_test.h>

Inheritance diagram for TrajectoryTrackerTest:

Public Member Functions
double	getCmdVelFrameRate () const
void	initState (const Eigen::Vector2d &pos, const float yaw)
void	publishPath (const std::vector< Eigen::Vector3d > &poses)
void	publishPathVelocity (const std::vector< Eigen::Vector4d > &poses)
void	publishTransform ()
	TrajectoryTrackerTest ()
void	waitUntilStart (const std::function< void()> func=nullptr)

Public Attributes
geometry_msgs::Twist::ConstPtr	cmd_vel_
ros::Duration	delay_
Eigen::Vector2d	pos_
trajectory_tracker_msgs::TrajectoryTrackerStatus::ConstPtr	status_
double	yaw_

Protected Attributes
double	error_ang_
double	error_large_lin_
double	error_lin_
std_msgs::Header	last_path_header_

Private Member Functions
void	cbCmdVel (const geometry_msgs::Twist::ConstPtr &msg)
void	cbStatus (const trajectory_tracker_msgs::TrajectoryTrackerStatus::ConstPtr &msg)

Private Attributes
int	cmd_vel_count_
ros::Time	cmd_vel_time_
ros::Time	initial_cmd_vel_time_
ros::NodeHandle	nh_
std::list< nav_msgs::Odometry >	odom_buffer_
ros::NodeHandle	pnh_
ros::Publisher	pub_odom_
ros::Publisher	pub_path_
ros::Publisher	pub_path_vel_
ros::Subscriber	sub_cmd_vel_
ros::Subscriber	sub_status_
tf2_ros::TransformBroadcaster	tfb_
ros::Time	trans_stamp_last_

Detailed Description

Definition at line 57 of file trajectory_tracker_test.h.

Constructor & Destructor Documentation

TrajectoryTrackerTest::TrajectoryTrackerTest ( )

inline

Definition at line 108 of file trajectory_tracker_test.h.

Member Function Documentation

void TrajectoryTrackerTest::cbCmdVel ( const geometry_msgs::Twist::ConstPtr &  msg )

inlineprivate

Definition at line 87 of file trajectory_tracker_test.h.

void TrajectoryTrackerTest::cbStatus ( const trajectory_tracker_msgs::TrajectoryTrackerStatus::ConstPtr &  msg )

inlineprivate

Definition at line 83 of file trajectory_tracker_test.h.

double TrajectoryTrackerTest::getCmdVelFrameRate ( ) const

inline

Definition at line 289 of file trajectory_tracker_test.h.

void TrajectoryTrackerTest::initState ( const Eigen::Vector2d &  pos, const float  yaw  )

inline

Definition at line 136 of file trajectory_tracker_test.h.

void TrajectoryTrackerTest::publishPath ( const std::vector< Eigen::Vector3d > &  poses )

inline

Definition at line 184 of file trajectory_tracker_test.h.

void TrajectoryTrackerTest::publishPathVelocity ( const std::vector< Eigen::Vector4d > &  poses )

inline

Definition at line 208 of file trajectory_tracker_test.h.

void TrajectoryTrackerTest::publishTransform ( )

inline

Definition at line 235 of file trajectory_tracker_test.h.

void TrajectoryTrackerTest::waitUntilStart ( const std::function< void()>  func = nullptr )

inline

Definition at line 162 of file trajectory_tracker_test.h.

Member Data Documentation

geometry_msgs::Twist::ConstPtr TrajectoryTrackerTest::cmd_vel_

Definition at line 105 of file trajectory_tracker_test.h.

int TrajectoryTrackerTest::cmd_vel_count_

private

Definition at line 72 of file trajectory_tracker_test.h.

ros::Time TrajectoryTrackerTest::cmd_vel_time_

private

Definition at line 68 of file trajectory_tracker_test.h.

ros::Duration TrajectoryTrackerTest::delay_

Definition at line 106 of file trajectory_tracker_test.h.

double TrajectoryTrackerTest::error_ang_

protected

Definition at line 80 of file trajectory_tracker_test.h.

double TrajectoryTrackerTest::error_large_lin_

protected

Definition at line 79 of file trajectory_tracker_test.h.

double TrajectoryTrackerTest::error_lin_

protected

Definition at line 78 of file trajectory_tracker_test.h.

ros::Time TrajectoryTrackerTest::initial_cmd_vel_time_

private

Definition at line 71 of file trajectory_tracker_test.h.

std_msgs::Header TrajectoryTrackerTest::last_path_header_

protected

Definition at line 77 of file trajectory_tracker_test.h.

ros::NodeHandle TrajectoryTrackerTest::nh_

private

Definition at line 60 of file trajectory_tracker_test.h.

std::list<nav_msgs::Odometry> TrajectoryTrackerTest::odom_buffer_

private

Definition at line 74 of file trajectory_tracker_test.h.

ros::NodeHandle TrajectoryTrackerTest::pnh_

private

Definition at line 61 of file trajectory_tracker_test.h.

Eigen::Vector2d TrajectoryTrackerTest::pos_

Definition at line 102 of file trajectory_tracker_test.h.

ros::Publisher TrajectoryTrackerTest::pub_odom_

private

Definition at line 66 of file trajectory_tracker_test.h.

ros::Publisher TrajectoryTrackerTest::pub_path_

private

Definition at line 64 of file trajectory_tracker_test.h.

ros::Publisher TrajectoryTrackerTest::pub_path_vel_

private

Definition at line 65 of file trajectory_tracker_test.h.

trajectory_tracker_msgs::TrajectoryTrackerStatus::ConstPtr TrajectoryTrackerTest::status_

Definition at line 104 of file trajectory_tracker_test.h.

ros::Subscriber TrajectoryTrackerTest::sub_cmd_vel_

private

Definition at line 62 of file trajectory_tracker_test.h.

ros::Subscriber TrajectoryTrackerTest::sub_status_

private

Definition at line 63 of file trajectory_tracker_test.h.

tf2_ros::TransformBroadcaster TrajectoryTrackerTest::tfb_

private

Definition at line 67 of file trajectory_tracker_test.h.

ros::Time TrajectoryTrackerTest::trans_stamp_last_

private

Definition at line 69 of file trajectory_tracker_test.h.

double TrajectoryTrackerTest::yaw_

Definition at line 103 of file trajectory_tracker_test.h.

---

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

• trajectory_tracker_test.h