planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode Class Reference

Classes
class	LinkBody

Public Types
using	Astar = GridAstar< 2, 0 >
using	Ptr = std::shared_ptr< Planner2dofSerialJointsNode >

Public Member Functions
	Planner2dofSerialJointsNode (const std::string group_name)

Private Types
enum	PointVelMode { VEL_PREV, VEL_NEXT, VEL_AVG }

Private Member Functions
void	cbJoint (const sensor_msgs::JointState::ConstPtr &msg)
bool	cbProgress (const std::list< Astar::Vec > &, const SearchStats &)
void	cbTrajectory (const trajectory_msgs::JointTrajectory::ConstPtr &msg)
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_
float	freq_
float	freq_min_
std::string	group_
bool	has_joint_states_
int	id_ [2]
sensor_msgs::JointState	joint_
LinkBody	links_ [2]
GridAstarModel2DoFSerialJoint::Ptr	model_
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_
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_

Detailed Description

Definition at line 57 of file planner_2dof_serial_joints.cpp.

Member Typedef Documentation

Astar

using planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::Astar = GridAstar<2, 0>

Definition at line 60 of file planner_2dof_serial_joints.cpp.

Ptr

using planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::Ptr = std::shared_ptr<Planner2dofSerialJointsNode>

Definition at line 61 of file planner_2dof_serial_joints.cpp.

Member Enumeration Documentation

PointVelMode

enum planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::PointVelMode

private

Enumerator
VEL_PREV
VEL_NEXT
VEL_AVG

Definition at line 83 of file planner_2dof_serial_joints.cpp.

Constructor & Destructor Documentation

Planner2dofSerialJointsNode()

planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::Planner2dofSerialJointsNode ( const std::string  group_name )

inlineexplicit

Definition at line 373 of file planner_2dof_serial_joints.cpp.

Member Function Documentation

cbJoint()

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::cbJoint ( const sensor_msgs::JointState::ConstPtr &  msg )

inlineprivate

Definition at line 165 of file planner_2dof_serial_joints.cpp.

cbProgress()

bool planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::cbProgress ( const std::list< Astar::Vec > &  , const SearchStats &    )

inlineprivate

Definition at line 661 of file planner_2dof_serial_joints.cpp.

cbTrajectory()

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::cbTrajectory ( const trajectory_msgs::JointTrajectory::ConstPtr &  msg )

inlineprivate

Definition at line 194 of file planner_2dof_serial_joints.cpp.

grid2Metric() [1/2]

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::grid2Metric ( const int  t0, const int  t1, float &  gt0, float &  gt1  )

inlineprivate

Definition at line 520 of file planner_2dof_serial_joints.cpp.

grid2Metric() [2/2]

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::grid2Metric ( const Astar::Vec  t, Astar::Vecf &  gt  )

inlineprivate

Definition at line 534 of file planner_2dof_serial_joints.cpp.

makePlan()

bool planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::makePlan ( const Astar::Vecf  sg, const Astar::Vecf  eg, std::list< Astar::Vecf > &  path  )

inlineprivate

Definition at line 546 of file planner_2dof_serial_joints.cpp.

metric2Grid() [1/2]

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::metric2Grid ( int &  t0, int &  t1, const float  gt0, const float  gt1  )

inlineprivate

Definition at line 527 of file planner_2dof_serial_joints.cpp.

metric2Grid() [2/2]

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::metric2Grid ( Astar::Vec &  t, const Astar::Vecf  gt  )

inlineprivate

Definition at line 540 of file planner_2dof_serial_joints.cpp.

replan()

void planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::replan ( )

inlineprivate

Definition at line 226 of file planner_2dof_serial_joints.cpp.

Member Data Documentation

as_

Astar planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::as_

private

Definition at line 75 of file planner_2dof_serial_joints.cpp.

avg_vel_

float planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::avg_vel_

private

Definition at line 82 of file planner_2dof_serial_joints.cpp.

cm_

Astar::Gridmap<char, 0x40> planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::cm_

private

Definition at line 76 of file planner_2dof_serial_joints.cpp.

cmd_prev_

std::pair<ros::Duration, std::pair<float, float> > planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::cmd_prev_

private

Definition at line 191 of file planner_2dof_serial_joints.cpp.

debug_aa_

bool planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::debug_aa_

private

Definition at line 93 of file planner_2dof_serial_joints.cpp.

freq_

float planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::freq_

private

Definition at line 79 of file planner_2dof_serial_joints.cpp.

freq_min_

float planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::freq_min_

private

Definition at line 80 of file planner_2dof_serial_joints.cpp.

group_

std::string planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::group_

private

Definition at line 91 of file planner_2dof_serial_joints.cpp.

has_joint_states_

bool planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::has_joint_states_

private

Definition at line 163 of file planner_2dof_serial_joints.cpp.

id_

int planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::id_[2]

private

Definition at line 193 of file planner_2dof_serial_joints.cpp.

joint_

sensor_msgs::JointState planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::joint_

private

Definition at line 160 of file planner_2dof_serial_joints.cpp.

links_

LinkBody planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::links_[2]

private

Definition at line 157 of file planner_2dof_serial_joints.cpp.

model_

GridAstarModel2DoFSerialJoint::Ptr planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::model_

private

Definition at line 77 of file planner_2dof_serial_joints.cpp.

nh_

ros::NodeHandle planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::nh_

private

Definition at line 64 of file planner_2dof_serial_joints.cpp.

pnh_

ros::NodeHandle planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::pnh_

private

Definition at line 65 of file planner_2dof_serial_joints.cpp.

point_vel_

PointVelMode planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::point_vel_

private

Definition at line 89 of file planner_2dof_serial_joints.cpp.

pub_status_

ros::Publisher planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::pub_status_

private

Definition at line 67 of file planner_2dof_serial_joints.cpp.

pub_trajectory_

ros::Publisher planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::pub_trajectory_

private

Definition at line 68 of file planner_2dof_serial_joints.cpp.

replan_interval_

ros::Duration planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::replan_interval_

private

Definition at line 162 of file planner_2dof_serial_joints.cpp.

replan_prev_

ros::Time planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::replan_prev_

private

Definition at line 161 of file planner_2dof_serial_joints.cpp.

resolution_

int planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::resolution_

private

Definition at line 81 of file planner_2dof_serial_joints.cpp.

status_

planner_cspace_msgs::PlannerStatus planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::status_

private

Definition at line 159 of file planner_2dof_serial_joints.cpp.

sub_joint_

ros::Subscriber planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::sub_joint_

private

Definition at line 70 of file planner_2dof_serial_joints.cpp.

sub_trajectory_

ros::Subscriber planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::sub_trajectory_

private

Definition at line 69 of file planner_2dof_serial_joints.cpp.

tfbuf_

tf2_ros::Buffer planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::tfbuf_

private

Definition at line 72 of file planner_2dof_serial_joints.cpp.

tfl_

tf2_ros::TransformListener planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::tfl_

private

Definition at line 73 of file planner_2dof_serial_joints.cpp.

traj_prev_

trajectory_msgs::JointTrajectory planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::traj_prev_

private

Definition at line 192 of file planner_2dof_serial_joints.cpp.

---

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

• planner_2dof_serial_joints.cpp