ackermann_controller.cpp
/tmp/ws/src/ackermann_controller/src/
ackermann__controller_8cpp
ackermann_controller/ackermann_controller.h
ackermann_controller
ackermann_controller.h
/tmp/ws/src/ackermann_controller/include/ackermann_controller/
ackermann__controller_8h
ackermann_controller/odometry.h
ackermann_controller/speed_limiter.h
ackermann_controller/joint.h
ackermann_controller::AckermannController
ackermann_controller::AckermannController::Commands
ackermann_controller
joint.h
/tmp/ws/src/ackermann_controller/include/ackermann_controller/
joint_8h
ackermann_controller::ActuatedJoint
ackermann_controller::ActuatedWheel
ackermann_controller::Joint
ackermann_controller::JointBase
ackermann_controller::Wheel
ackermann_controller::WheelBase
ackermann_controller
odometry.cpp
/tmp/ws/src/ackermann_controller/src/
odometry_8cpp
ackermann_controller/odometry.h
ackermann_controller
odometry.h
/tmp/ws/src/ackermann_controller/include/ackermann_controller/
odometry_8h
ackermann_controller/joint.h
ackermann_controller::Odometry
ackermann_controller
speed_limiter.cpp
/tmp/ws/src/ackermann_controller/src/
speed__limiter_8cpp
ackermann_controller/speed_limiter.h
ackermann_controller
T
clamp
speed__limiter_8cpp.html
aacaa5293532b06cf5e062c8a7f97bb30
(T x, T min, T max)
speed_limiter.h
/tmp/ws/src/ackermann_controller/include/ackermann_controller/
speed__limiter_8h
ackermann_controller::SpeedLimiter
ackermann_controller
ackermann_controller::AckermannController
classackermann__controller_1_1AckermannController.html
MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::JointStateInterface, hardware_interface::PositionJointInterface >
ackermann_controller::AckermannController::Commands
AckermannController
classackermann__controller_1_1AckermannController.html
a14d9c96ba310a0620ae3a0c395ee371e
()
bool
init
classackermann__controller_1_1AckermannController.html
acd6c42eebe7516564a2faab55a6bda52
(hardware_interface::RobotHW *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
void
starting
classackermann__controller_1_1AckermannController.html
add9235a4302af004eb1af8b97ab9bd48
(const ros::Time &time)
void
stopping
classackermann__controller_1_1AckermannController.html
a82283f18ce5f478c1cf7241e10351f97
(const ros::Time &)
void
update
classackermann__controller_1_1AckermannController.html
aedb9b6a5daa0d20683eb8f5d60d170f6
(const ros::Time &time, const ros::Duration &period)
void
brake
classackermann__controller_1_1AckermannController.html
a7d75c3bd7bf0078c3d4d11a6f982811c
()
void
cmdVelCallback
classackermann__controller_1_1AckermannController.html
a242dd86d686cb3c139eb3add6c3b85ca
(const geometry_msgs::Twist &command)
std::vector< std::string >
getJointNames
classackermann__controller_1_1AckermannController.html
a48afe734ed1c5a41bb1c702f2be9d365
(ros::NodeHandle &controller_nh, const std::string ¶m)
boost::shared_ptr< urdf::ModelInterface >
getURDFModel
classackermann__controller_1_1AckermannController.html
a035d31d067b2133cef4f6ac8c8521ec6
(const ros::NodeHandle &nh)
bool
initParams
classackermann__controller_1_1AckermannController.html
a532bffe8d9b857c41a618679d3d95f91
(ros::NodeHandle &controller_nh)
void
moveRobot
classackermann__controller_1_1AckermannController.html
a9b7abe407b026feec903838ba2cae039
(const ros::Time &time, const ros::Duration &period)
void
setOdomPubFields
classackermann__controller_1_1AckermannController.html
aeb7fcab931b1279ac286a91cbf386b7e
(ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
void
updateOdometry
classackermann__controller_1_1AckermannController.html
a2c16790c341ab0412d423673fad7fdca
(const ros::Time &time, const ros::Duration &period)
std::string
base_frame_id_
classackermann__controller_1_1AckermannController.html
adf42cdcbc00164d2aa81aa60d7217a7a
std::string
base_link_
classackermann__controller_1_1AckermannController.html
a0c7b5d93dc54be004d0712d749a5a2ca
double
cmd_vel_timeout_
classackermann__controller_1_1AckermannController.html
ab6e0df75983a4b7a438f7e3bdf2cf671
realtime_tools::RealtimeBuffer< Commands >
command_
classackermann__controller_1_1AckermannController.html
a1633fed49eaaf88e3246be8e50321bd3
Commands
command_struct_
classackermann__controller_1_1AckermannController.html
a14826dac5e6c482a09f554b37e17bbec
bool
enable_odom_tf_
classackermann__controller_1_1AckermannController.html
aa1ebb67a88f5aecead293af8ca1e4ba2
Commands
last0_cmd_
classackermann__controller_1_1AckermannController.html
ae19b29c4ee8190fa281bf4db0f12a3f0
Commands
last1_cmd_
classackermann__controller_1_1AckermannController.html
a2326d9d949dcc6e0af92350d59aa5b8f
ros::Time
last_state_publish_time_
classackermann__controller_1_1AckermannController.html
a203d2e576098d22b6d504fc05eb07dc9
ackermann_controller::SpeedLimiter
limiter_
classackermann__controller_1_1AckermannController.html
ac06aedc773f2c1355af3e89273bc8972
std::string
name_
classackermann__controller_1_1AckermannController.html
ac294f44a5748eec5c074eb78141ebe70
std::string
odom_frame_id_
classackermann__controller_1_1AckermannController.html
a680cdcd2780709535c2a064ad3a681f5
boost::shared_ptr< realtime_tools::RealtimePublisher< nav_msgs::Odometry > >
odom_pub_
classackermann__controller_1_1AckermannController.html
a53a7b05651d5f568ab6d30064f3c13f4
ackermann_controller::Odometry
odometry_
classackermann__controller_1_1AckermannController.html
a8748661cdf5bb90310192bb4b2488cac
std::vector< Wheel >
odometry_joints_
classackermann__controller_1_1AckermannController.html
ab68e661cef0f7351c501ff212c681335
bool
open_loop_
classackermann__controller_1_1AckermannController.html
adbbf1c8085c9eb143c88855fbca8d046
ros::Duration
publish_period_
classackermann__controller_1_1AckermannController.html
a523b41393a55d5c7940f9b93ba2b0327
std::vector< ActuatedWheel >
spinning_joints_
classackermann__controller_1_1AckermannController.html
a94055989b8ae147e3d92bc5a288f00ae
bool
steering_angle_instead_of_angular_speed_
classackermann__controller_1_1AckermannController.html
a2529cd18a14852a20d44489450d99e37
std::vector< ActuatedJoint >
steering_joints_
classackermann__controller_1_1AckermannController.html
a571178926834cd1d256a7223f5b8148b
ros::Subscriber
sub_command_
classackermann__controller_1_1AckermannController.html
a82cad57b3e6d34abde92dd6b6c848d4d
boost::shared_ptr< realtime_tools::RealtimePublisher< tf::tfMessage > >
tf_odom_pub_
classackermann__controller_1_1AckermannController.html
a59890ac643cbc5895b057b14a7b85107
int
velocity_rolling_window_size_
classackermann__controller_1_1AckermannController.html
a337a2183094f7a14ed621fd7bf59c425
double
wheelbase_
classackermann__controller_1_1AckermannController.html
a3fbe3041c205c65f720ac4d94a6cc877
ackermann_controller::ActuatedJoint
structackermann__controller_1_1ActuatedJoint.html
ackermann_controller::JointBase
ActuatedJoint
structackermann__controller_1_1ActuatedJoint.html
a672ffa5e6a4ccc84b590c65d2ef67b59
(const std::string &name, const std::string &base_link_name, boost::shared_ptr< urdf::ModelInterface > model, hardware_interface::JointHandle handle)
virtual double
getPosition
structackermann__controller_1_1ActuatedJoint.html
ad6b103c284f7b8d4434d6f2b630adfd7
() const
void
setCommand
structackermann__controller_1_1ActuatedJoint.html
a8f16ec13a888cb02fa1210a03e796a3a
(double command)
hardware_interface::JointHandle
handle_
structackermann__controller_1_1ActuatedJoint.html
a39206aaad6fb94c70e70bf89fa168ade
ackermann_controller::ActuatedWheel
structackermann__controller_1_1ActuatedWheel.html
ackermann_controller::ActuatedJoint
ackermann_controller::WheelBase
ActuatedWheel
structackermann__controller_1_1ActuatedWheel.html
a054aa827883ead485fc911160013b6ea
(const std::string &name, const std::string &base_link_name, boost::shared_ptr< urdf::ModelInterface > model, hardware_interface::JointHandle handle)
ackermann_controller::AckermannController::Commands
structackermann__controller_1_1AckermannController_1_1Commands.html
Commands
structackermann__controller_1_1AckermannController_1_1Commands.html
a259c9aa1bb4929f73b30a91216972496
()
double
ang
structackermann__controller_1_1AckermannController_1_1Commands.html
a2e2ca61f4f771aeb0abca32af6172fe5
double
lin
structackermann__controller_1_1AckermannController_1_1Commands.html
a9c900fdc49e10f71552f82a3e815c0cd
ros::Time
stamp
structackermann__controller_1_1AckermannController_1_1Commands.html
ae7778c9f70258782203c0a455a493b08
ackermann_controller::Joint
structackermann__controller_1_1Joint.html
ackermann_controller::JointBase
virtual double
getPosition
structackermann__controller_1_1Joint.html
a719961110fda735f835ecf42f157fd02
() const
Joint
structackermann__controller_1_1Joint.html
a1919ee4ef0c0409f395e8871bd1cb568
(const std::string &name, const std::string &base_link_name, boost::shared_ptr< urdf::ModelInterface > model, hardware_interface::JointStateHandle handle)
hardware_interface::JointStateHandle
handle_
structackermann__controller_1_1Joint.html
ae9f1d75b5bd3c1260b04a21836f3e3af
ackermann_controller::JointBase
structackermann__controller_1_1JointBase.html
JointBase
structackermann__controller_1_1JointBase.html
a4553682964597661a94a42028487e335
(const std::string &name, const std::string &base_link_name, boost::shared_ptr< urdf::ModelInterface > model)
hardware_interface::JointStateHandle
handle_
structackermann__controller_1_1JointBase.html
afda1ed457c1a8c5b6478170ca5233cce
boost::shared_ptr< const urdf::Joint >
joint_
structackermann__controller_1_1JointBase.html
a93f962f9942a585b2c0dd3bb4a367089
double
lateral_deviation_
structackermann__controller_1_1JointBase.html
a94ee0db8dc83046f812fe0579b5f998b
std::string
name_
structackermann__controller_1_1JointBase.html
ac1701acb4a1c88057744f8c2afdd2b46
ackermann_controller::Odometry
classackermann__controller_1_1Odometry.html
boost::function< void(double, double)>
IntegrationFunction
classackermann__controller_1_1Odometry.html
a0b6459eb88d27dba125ef166fe5f7e04
double
getAngular
classackermann__controller_1_1Odometry.html
a9d179b375b2e2d2cdfff30c1229fdf1b
() const
double
getHeading
classackermann__controller_1_1Odometry.html
a368857ba8cfc9690e019d4844da33a0f
() const
double
getLinear
classackermann__controller_1_1Odometry.html
a795b573bb297791311337eecec0764ec
() const
double
getX
classackermann__controller_1_1Odometry.html
a5c8a496a083e9cbb15df959534ce5e86
() const
double
getY
classackermann__controller_1_1Odometry.html
a5636e7292e9049349a90bd86e71f72b3
() const
void
init
classackermann__controller_1_1Odometry.html
ab61e4a69678a56897d5c2965716ea809
(const ros::Time &time)
Odometry
classackermann__controller_1_1Odometry.html
af6a7f0c244b7ef88136ca7c269b73e7c
(size_t velocity_rolling_window_size=10)
void
setVelocityRollingWindowSize
classackermann__controller_1_1Odometry.html
a910a1c714fcec1ef6b8c1ea4ac657d2d
(size_t velocity_rolling_window_size)
void
setWheelbase
classackermann__controller_1_1Odometry.html
aeadf64ce9e6479490a358436bbd35355
(double wheelbase)
bool
update
classackermann__controller_1_1Odometry.html
acb679f5dfe3d40866fe838434a620bb4
(const std::vector< ActuatedJoint > &steering_joints, const std::vector< Wheel > &odometry_joints, const ros::Time &time)
void
updateOpenLoop
classackermann__controller_1_1Odometry.html
adef11a49bf9345d3b31d570d4c971dad
(double linear, double angular, const ros::Time &time)
bacc::accumulator_set< double, bacc::stats< bacc::tag::rolling_mean > >
RollingMeanAcc
classackermann__controller_1_1Odometry.html
a74bb9b7f21558efea5962063f5ccea6f
bacc::tag::rolling_window
RollingWindow
classackermann__controller_1_1Odometry.html
ab4bc75017377b6cd6e8fffe844f2e8b6
void
integrateExact
classackermann__controller_1_1Odometry.html
a36b0701d3c1bfb7bf9711e9f15b01170
(double linear, double angular)
void
integrateRungeKutta2
classackermann__controller_1_1Odometry.html
a6ff51fb7c14a6d684453cf2404f210ac
(double linear, double angular)
void
resetAccumulators
classackermann__controller_1_1Odometry.html
a35f162a321b1194b791eee7189e1dac2
()
double
angular_
classackermann__controller_1_1Odometry.html
a07432acce7ddc8a6c86d06439a7370c3
RollingMeanAcc
angular_acc_
classackermann__controller_1_1Odometry.html
a759521d6e908fc46552f948e60c9471d
double
heading_
classackermann__controller_1_1Odometry.html
a9bde039842ef5c2a244b65a963190cb8
IntegrationFunction
integrate_fun_
classackermann__controller_1_1Odometry.html
a9e96bee1483c544352130dd087a7eac4
double
linear_
classackermann__controller_1_1Odometry.html
aeddcfeab4605563aa85af571981a84c4
RollingMeanAcc
linear_acc_
classackermann__controller_1_1Odometry.html
a24b56f979788648092ffb519bedbb30e
ros::Time
timestamp_
classackermann__controller_1_1Odometry.html
a3efe91ae756d31bdb23ee35fed5a0358
size_t
velocity_rolling_window_size_
classackermann__controller_1_1Odometry.html
a06f2f7c9b9c27df3609853867152672a
double
wheelbase_
classackermann__controller_1_1Odometry.html
a48398fd40b6d20a34b1b9de4f3ef6ab3
std::map< std::string, double >
wheels_old_pos_
classackermann__controller_1_1Odometry.html
afbc452d83480051001e31536d7ab80c0
double
x_
classackermann__controller_1_1Odometry.html
a44f9353b01f6b16b173d03c61419f403
double
y_
classackermann__controller_1_1Odometry.html
a28fb06c0012b92d127c0a8cd913ef996
ackermann_controller::SpeedLimiter
classackermann__controller_1_1SpeedLimiter.html
double
limit
classackermann__controller_1_1SpeedLimiter.html
a6cc5b18c129e1eb999157c6d7133f45f
(double &v, double v0, double v1, double dt)
double
limit_acceleration
classackermann__controller_1_1SpeedLimiter.html
abe3703a181980cea46cecd1df7d33d83
(double &v, double v0, double dt)
double
limit_jerk
classackermann__controller_1_1SpeedLimiter.html
a1eed9d29398c727426e9a94eaaefcae6
(double &v, double v0, double v1, double dt)
double
limit_velocity
classackermann__controller_1_1SpeedLimiter.html
a1348d5aac6bb541ad14be7e89d036e5b
(double &v)
SpeedLimiter
classackermann__controller_1_1SpeedLimiter.html
a6f46b9993b397b3266ee47af99802b96
(bool has_velocity_limits=false, bool has_acceleration_limits=false, bool has_deceleration_limits=false, bool has_jerk_limits=false, double min_velocity=0.0, double max_velocity=0.0, double min_acceleration=0.0, double max_acceleration=0.0, double min_deceleration=0.0, double max_deceleration=0.0, double min_jerk=0.0, double max_jerk=0.0)
bool
has_acceleration_limits
classackermann__controller_1_1SpeedLimiter.html
a17423f0351a6e331fb19f13178e8f522
bool
has_deceleration_limits
classackermann__controller_1_1SpeedLimiter.html
a1351c7e8432142d89c5d33f3e2fa7867
bool
has_jerk_limits
classackermann__controller_1_1SpeedLimiter.html
a27be8d5ff6098036d8a9419e00a38a97
bool
has_velocity_limits
classackermann__controller_1_1SpeedLimiter.html
a238cb71a24b062485a4b76a89cf17230
double
max_acceleration
classackermann__controller_1_1SpeedLimiter.html
a8f6517cb9fea354f66e63ab755f5c1b8
double
max_deceleration
classackermann__controller_1_1SpeedLimiter.html
aaf3e3485c89a8aead2415a627619737a
double
max_jerk
classackermann__controller_1_1SpeedLimiter.html
a72b8dde1e0de84480f491296df7e2e67
double
max_velocity
classackermann__controller_1_1SpeedLimiter.html
a06efe2e6783fd351c2f301ad94b406f7
double
min_acceleration
classackermann__controller_1_1SpeedLimiter.html
acdb450104e43613ffd74ebac6af777a3
double
min_deceleration
classackermann__controller_1_1SpeedLimiter.html
abd1d840de116fff014e73a8ce4c1de70
double
min_jerk
classackermann__controller_1_1SpeedLimiter.html
a25dc44b1789167e9a6c68d42fb885eeb
double
min_velocity
classackermann__controller_1_1SpeedLimiter.html
ae58e9050675c1352daf4170df14712ca
ackermann_controller::Wheel
structackermann__controller_1_1Wheel.html
ackermann_controller::Joint
ackermann_controller::WheelBase
Wheel
structackermann__controller_1_1Wheel.html
a2faff2aaf31ceb1f2f631cbaf24c02c8
(const std::string &name, const std::string &base_link_name, boost::shared_ptr< urdf::ModelInterface > model, hardware_interface::JointStateHandle handle)
ackermann_controller::WheelBase
structackermann__controller_1_1WheelBase.html
WheelBase
structackermann__controller_1_1WheelBase.html
adb94469be4beba57edac16609c5ab411
(const std::string &child_link_name, boost::shared_ptr< urdf::ModelInterface > model)
double
radius_
structackermann__controller_1_1WheelBase.html
a58989cc73ea0f67733688f45091e698a
ackermann_controller
namespaceackermann__controller.html
ackermann_controller::AckermannController
ackermann_controller::ActuatedJoint
ackermann_controller::ActuatedWheel
ackermann_controller::Joint
ackermann_controller::JointBase
ackermann_controller::Odometry
ackermann_controller::SpeedLimiter
ackermann_controller::Wheel
ackermann_controller::WheelBase