Classes | Functions | Variables
dwb_plugins Namespace Reference

Classes

class  KinematicParameters
 A dynamically reconfigurable class containing one representation of the robot's kinematics. More...
 
class  LimitedAccelGenerator
 Limits the acceleration in the generated trajectories to a fraction of the simulated time. More...
 
class  OneDVelocityIterator
 An iterator for generating a number of samples in a range. More...
 
class  SimpleGoalChecker
 Goal Checker plugin that only checks the position difference. More...
 
class  StandardTrajectoryGenerator
 Standard DWA-like trajectory generator. More...
 
class  StoppedGoalChecker
 Goal Checker plugin that checks the position difference and velocity. More...
 
class  VelocityIterator
 
class  XYThetaIterator
 

Functions

double projectVelocity (double v0, double accel, double decel, double dt, double target)
 Given initial conditions and a time, figure out the end velocity. More...
 
void setDecelerationAsNeeded (const ros::NodeHandle &nh, const std::string dimension)
 Helper function to set the deceleration to the negative acceleration if it was not already set. More...
 

Variables

const double EPSILON = 1E-5
 

Function Documentation

double dwb_plugins::projectVelocity ( double  v0,
double  accel,
double  decel,
double  dt,
double  target 
)
inline

Given initial conditions and a time, figure out the end velocity.

Parameters
v0Initial velocity
accelThe acceleration rate
decelThe decceleration rate
dtDelta time - amount of time to project into the future
targettarget velocity
Returns
The velocity dt seconds after v0.

Definition at line 56 of file one_d_velocity_iterator.h.

void dwb_plugins::setDecelerationAsNeeded ( const ros::NodeHandle nh,
const std::string  dimension 
)

Helper function to set the deceleration to the negative acceleration if it was not already set.

Parameters
nhNodeHandle
dimensionString representing the dimension, used in constructing parameter names

Definition at line 50 of file kinematic_parameters.cpp.

Variable Documentation

const double dwb_plugins::EPSILON = 1E-5

Definition at line 44 of file one_d_velocity_iterator.h.



dwb_plugins
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autogenerated on Wed Jun 26 2019 20:06:16