Classes | Public Types | Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
planner2dofSerialJointsNode Class Reference

Classes

class  LinkBody
 

Public Types

using Astar = GridAstar< 2, 0 >
 

Public Member Functions

 planner2dofSerialJointsNode (const std::string group_name)
 

Private Types

enum  PointVelMode { VEL_PREV, VEL_NEXT, VEL_AVG }
 

Private Member Functions

float cbCost (const Astar::Vec &s, Astar::Vec &e, const Astar::Vec &v_goal, const Astar::Vec &v_start)
 
float cbCostEstim (const Astar::Vec &s, const Astar::Vec &e)
 
void cbJoint (const sensor_msgs::JointState::ConstPtr &msg)
 
bool cbProgress (const std::list< Astar::Vec > &path_grid)
 
std::vector< Astar::Vec > & cbSearch (const Astar::Vec &p, const Astar::Vec &s, const Astar::Vec &e)
 
void cbTrajectory (const trajectory_msgs::JointTrajectory::ConstPtr &msg)
 
float euclidCost (const Astar::Vec &v, const Astar::Vecf coef)
 
float euclidCost (const Astar::Vec &v)
 
void grid2Metric (const int t0, const int t1, float &gt0, float &gt1)
 
void grid2Metric (const Astar::Vec t, Astar::Vecf &gt)
 
bool makePlan (const Astar::Vecf sg, const Astar::Vecf eg, std::list< Astar::Vecf > &path)
 
void metric2Grid (int &t0, int &t1, const float gt0, const float gt1)
 
void metric2Grid (Astar::Vec &t, const Astar::Vecf gt)
 
void replan ()
 

Private Attributes

Astar as_
 
float avg_vel_
 
Astar::Gridmap< char, 0x40 > cm_
 
std::pair< ros::Duration, std::pair< float, float > > cmd_prev
 
bool debug_aa_
 
Astar::Vecf euclid_cost_coef_
 
float expand_
 
float freq_
 
float freq_min_
 
std::string group_
 
bool has_goal_
 
bool has_start_
 
int id [2]
 
sensor_msgs::JointState joint_
 
LinkBody links_ [2]
 
ros::NodeHandle nh_
 
ros::NodeHandle pnh_
 
PointVelMode point_vel_
 
ros::Publisher pub_status_
 
ros::Publisher pub_trajectory_
 
ros::Duration replan_interval_
 
ros::Time replan_prev_
 
int resolution_
 
std::vector< Astar::Vec > search_list_
 
planner_cspace_msgs::PlannerStatus status_
 
ros::Subscriber sub_joint_
 
ros::Subscriber sub_trajectory_
 
tf2_ros::Buffer tfbuf_
 
tf2_ros::TransformListener tfl_
 
trajectory_msgs::JointTrajectory traj_prev
 
float weight_cost_
 

Detailed Description

Definition at line 48 of file planner_2dof_serial_joints.cpp.

Member Typedef Documentation

using planner2dofSerialJointsNode::Astar = GridAstar<2, 0>

Definition at line 51 of file planner_2dof_serial_joints.cpp.

Member Enumeration Documentation

enum planner2dofSerialJointsNode::PointVelMode
private
Enumerator
VEL_PREV 
VEL_NEXT 
VEL_AVG 

Definition at line 94 of file planner_2dof_serial_joints.cpp.

Constructor & Destructor Documentation

planner2dofSerialJointsNode::planner2dofSerialJointsNode ( const std::string  group_name)
inlineexplicit

Definition at line 375 of file planner_2dof_serial_joints.cpp.

Member Function Documentation

float planner2dofSerialJointsNode::cbCost ( const Astar::Vec &  s,
Astar::Vec &  e,
const Astar::Vec &  v_goal,
const Astar::Vec &  v_start 
)
inlineprivate

Definition at line 685 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::cbCostEstim ( const Astar::Vec &  s,
const Astar::Vec &  e 
)
inlineprivate

Definition at line 680 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::cbJoint ( const sensor_msgs::JointState::ConstPtr &  msg)
inlineprivate

Definition at line 175 of file planner_2dof_serial_joints.cpp.

bool planner2dofSerialJointsNode::cbProgress ( const std::list< Astar::Vec > &  path_grid)
inlineprivate

Definition at line 676 of file planner_2dof_serial_joints.cpp.

std::vector<Astar::Vec>& planner2dofSerialJointsNode::cbSearch ( const Astar::Vec &  p,
const Astar::Vec &  s,
const Astar::Vec &  e 
)
inlineprivate

Definition at line 670 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::cbTrajectory ( const trajectory_msgs::JointTrajectory::ConstPtr &  msg)
inlineprivate

Definition at line 203 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::euclidCost ( const Astar::Vec &  v,
const Astar::Vecf  coef 
)
inlineprivate

Definition at line 70 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::euclidCost ( const Astar::Vec &  v)
inlineprivate

Definition at line 80 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::grid2Metric ( const int  t0,
const int  t1,
float &  gt0,
float &  gt1 
)
inlineprivate

Definition at line 522 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::grid2Metric ( const Astar::Vec  t,
Astar::Vecf &  gt 
)
inlineprivate

Definition at line 536 of file planner_2dof_serial_joints.cpp.

bool planner2dofSerialJointsNode::makePlan ( const Astar::Vecf  sg,
const Astar::Vecf  eg,
std::list< Astar::Vecf > &  path 
)
inlineprivate

Definition at line 548 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::metric2Grid ( int &  t0,
int &  t1,
const float  gt0,
const float  gt1 
)
inlineprivate

Definition at line 529 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::metric2Grid ( Astar::Vec &  t,
const Astar::Vecf  gt 
)
inlineprivate

Definition at line 542 of file planner_2dof_serial_joints.cpp.

void planner2dofSerialJointsNode::replan ( )
inlineprivate

Definition at line 235 of file planner_2dof_serial_joints.cpp.

Member Data Documentation

Astar planner2dofSerialJointsNode::as_
private

Definition at line 65 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::avg_vel_
private

Definition at line 93 of file planner_2dof_serial_joints.cpp.

Astar::Gridmap<char, 0x40> planner2dofSerialJointsNode::cm_
private

Definition at line 66 of file planner_2dof_serial_joints.cpp.

std::pair<ros::Duration, std::pair<float, float> > planner2dofSerialJointsNode::cmd_prev
private

Definition at line 200 of file planner_2dof_serial_joints.cpp.

bool planner2dofSerialJointsNode::debug_aa_
private

Definition at line 104 of file planner_2dof_serial_joints.cpp.

Astar::Vecf planner2dofSerialJointsNode::euclid_cost_coef_
private

Definition at line 68 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::expand_
private

Definition at line 92 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::freq_
private

Definition at line 85 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::freq_min_
private

Definition at line 86 of file planner_2dof_serial_joints.cpp.

std::string planner2dofSerialJointsNode::group_
private

Definition at line 102 of file planner_2dof_serial_joints.cpp.

bool planner2dofSerialJointsNode::has_goal_
private

Definition at line 87 of file planner_2dof_serial_joints.cpp.

bool planner2dofSerialJointsNode::has_start_
private

Definition at line 88 of file planner_2dof_serial_joints.cpp.

int planner2dofSerialJointsNode::id[2]
private

Definition at line 202 of file planner_2dof_serial_joints.cpp.

sensor_msgs::JointState planner2dofSerialJointsNode::joint_
private

Definition at line 171 of file planner_2dof_serial_joints.cpp.

LinkBody planner2dofSerialJointsNode::links_[2]
private

Definition at line 168 of file planner_2dof_serial_joints.cpp.

ros::NodeHandle planner2dofSerialJointsNode::nh_
private

Definition at line 54 of file planner_2dof_serial_joints.cpp.

ros::NodeHandle planner2dofSerialJointsNode::pnh_
private

Definition at line 55 of file planner_2dof_serial_joints.cpp.

PointVelMode planner2dofSerialJointsNode::point_vel_
private

Definition at line 100 of file planner_2dof_serial_joints.cpp.

ros::Publisher planner2dofSerialJointsNode::pub_status_
private

Definition at line 57 of file planner_2dof_serial_joints.cpp.

ros::Publisher planner2dofSerialJointsNode::pub_trajectory_
private

Definition at line 58 of file planner_2dof_serial_joints.cpp.

ros::Duration planner2dofSerialJointsNode::replan_interval_
private

Definition at line 173 of file planner_2dof_serial_joints.cpp.

ros::Time planner2dofSerialJointsNode::replan_prev_
private

Definition at line 172 of file planner_2dof_serial_joints.cpp.

int planner2dofSerialJointsNode::resolution_
private

Definition at line 90 of file planner_2dof_serial_joints.cpp.

std::vector<Astar::Vec> planner2dofSerialJointsNode::search_list_
private

Definition at line 89 of file planner_2dof_serial_joints.cpp.

planner_cspace_msgs::PlannerStatus planner2dofSerialJointsNode::status_
private

Definition at line 170 of file planner_2dof_serial_joints.cpp.

ros::Subscriber planner2dofSerialJointsNode::sub_joint_
private

Definition at line 60 of file planner_2dof_serial_joints.cpp.

ros::Subscriber planner2dofSerialJointsNode::sub_trajectory_
private

Definition at line 59 of file planner_2dof_serial_joints.cpp.

tf2_ros::Buffer planner2dofSerialJointsNode::tfbuf_
private

Definition at line 62 of file planner_2dof_serial_joints.cpp.

tf2_ros::TransformListener planner2dofSerialJointsNode::tfl_
private

Definition at line 63 of file planner_2dof_serial_joints.cpp.

trajectory_msgs::JointTrajectory planner2dofSerialJointsNode::traj_prev
private

Definition at line 201 of file planner_2dof_serial_joints.cpp.

float planner2dofSerialJointsNode::weight_cost_
private

Definition at line 91 of file planner_2dof_serial_joints.cpp.

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

planner_cspace
Author(s): Atsushi Watanabe
autogenerated on Tue Jul 9 2019 05:00:14