Classes
class	CpOdomTracker

Enumerations
enum class	WorkingMode : uint8_t { RECORD_PATH = 0 , CLEAR_PATH = 1 , IDLE = 2 }

enum class	OdomTrackerStrategy { ODOMETRY_SUBSCRIBER , POSE_COMPONENT }

Functions
double	p2pDistance (const geometry_msgs::msg::Point &p1, const geometry_msgs::msg::Point &p2)

template<typename T >
void	parameterDeclareAndtryGetOrSet (rclcpp::Node::SharedPtr &node, std::string param_name, T &value)

Enumeration Type Documentation

◆ OdomTrackerStrategy

enum class cl_nav2z::odom_tracker::OdomTrackerStrategy

strong

Enumerator
ODOMETRY_SUBSCRIBER
POSE_COMPONENT

Definition at line 52 of file cp_odom_tracker.hpp.

{
  ODOMETRY_SUBSCRIBER,
  POSE_COMPONENT
};

◆ WorkingMode

enum class cl_nav2z::odom_tracker::WorkingMode : uint8_t

strong

Enumerator
RECORD_PATH
CLEAR_PATH
IDLE

Definition at line 45 of file cp_odom_tracker.hpp.

{
  RECORD_PATH = 0,
  CLEAR_PATH = 1,
  IDLE = 2
};

Function Documentation

◆ p2pDistance()

double cl_nav2z::odom_tracker::p2pDistance	(	const geometry_msgs::msg::Point &	p1,
		const geometry_msgs::msg::Point &	p2 )

inline

p2pDistance()

Definition at line 208 of file cp_odom_tracker.hpp.

{
  double dx = (p1.x - p2.x);
  double dy = (p1.y - p2.y);
  double dz = (p2.z - p2.z);
  double dist = sqrt(dx * dx + dy * dy + dz * dz);
  return dist;
}

Referenced by cl_nav2z::odom_tracker::CpOdomTracker::updateClearPath(), and cl_nav2z::odom_tracker::CpOdomTracker::updateRecordPath().

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◆ parameterDeclareAndtryGetOrSet()

template<typename T >

void cl_nav2z::odom_tracker::parameterDeclareAndtryGetOrSet	(	rclcpp::Node::SharedPtr &	node,
		std::string	param_name,
		T &	value )

Definition at line 45 of file cp_odom_tracker.cpp.

{
  if (!node->get_parameter(param_name, value))
  {
    RCLCPP_INFO_STREAM(
      node->get_logger(), "[CpOdomTracker] autoset " << param_name << ": " << value);
    node->declare_parameter(param_name, value);
  }
  else
  {
    RCLCPP_INFO_STREAM(node->get_logger(), "[CpOdomTracker] " << param_name << ": " << value);
  }
}

Referenced by cl_nav2z::odom_tracker::CpOdomTracker::onInitialize().