Class Spin

• Defined in File spin.hpp

Inheritance Relationships

Base Type

• public nav2_behaviors::TimedBehavior< SpinAction > (Template Class TimedBehavior)

Class Documentation

class Spin : public nav2_behaviors::TimedBehavior<SpinAction>

An action server behavior for spinning in.

Public Types

using SpinActionGoal = SpinAction::Goal

using SpinActionResult = SpinAction::Result

Public Functions

Spin()

A constructor for nav2_behaviors::Spin.

~Spin()

ResultStatus onRun(const std::shared_ptr<const SpinActionGoal> command) override

Initialization to run behavior.

Parameters:

command – Goal to execute

Returns:

Status of behavior

virtual void onConfigure() override

Configuration of behavior action.

virtual ResultStatus onCycleUpdate() override

Loop function to run behavior.

Returns:

Status of behavior

inline virtual CostmapInfoType getResourceInfo() override

Method to determine the required costmap info.

Returns:

costmap resources needed

Protected Functions

bool isCollisionFree(const double &distance, const geometry_msgs::msg::Twist &cmd_vel, geometry_msgs::msg::Pose2D &pose2d)

Check if pose is collision free.

Parameters:

• distance – Distance to check forward

• cmd_vel – current commanded velocity

• pose2d – Current pose

Returns:

is collision free or not

Protected Attributes

SpinAction::Feedback::SharedPtr feedback_

double min_rotational_vel_

double max_rotational_vel_

double rotational_acc_lim_

double cmd_yaw_

double prev_yaw_

double relative_yaw_

double simulate_ahead_time_

rclcpp::Duration command_time_allowance_ = {0, 0}

rclcpp::Time end_time_