Namespaces | |
| namespace | backward_global_planner |
| namespace | backward_local_planner |
| namespace | forward_global_planner |
| namespace | forward_local_planner |
| namespace | odom_tracker |
| namespace | pure_spinning_local_planner |
| namespace | undo_path_global_planner |
Enumerations | |
| enum class | SpiningPlanner { Default , PureSpinning , Forward } |
| enum | UndoPathLocalPlanner { BackwardsLocalPlanner , PureSpinningLocalPlanner } |
Functions | |
| geometry_msgs::PoseStamped | makePureSpinningSubPlan (const geometry_msgs::PoseStamped &start, double dstRads, std::vector< geometry_msgs::PoseStamped > &plan, double puresSpinningRadStep=1000) |
| geometry_msgs::PoseStamped | makePureStraightSubPlan (const geometry_msgs::PoseStamped &startOrientedPose, const geometry_msgs::Point &goal, double length, std::vector< geometry_msgs::PoseStamped > &plan) |
| template<typename TEv > | |
| void | configurePostEvWaypoint (std::function< void()> *fntarget, ClMoveBaseZ *client, int index) |
| template<typename T > | |
| int | sgn (T val) |
Enumeration Type Documentation
◆ SpiningPlanner
|
strong |
| Enumerator | |
|---|---|
| Default | |
| PureSpinning | |
| Forward | |
Definition at line 14 of file cb_absolute_rotate.h.
◆ UndoPathLocalPlanner
| Enumerator | |
|---|---|
| BackwardsLocalPlanner | |
| PureSpinningLocalPlanner | |
Definition at line 13 of file cb_undo_path_backwards.h.
14{
15 BackwardsLocalPlanner, /*default, it is able to move freely backwards, or combined straightsegments with pure spinning
16 segments*/
17 PureSpinningLocalPlanner /*only pure spinnings, be careful it may not be able to undo the path if it was not a pure
18 spinning segment*/
19};
@ PureSpinningLocalPlanner
Definition: cb_undo_path_backwards.h:17
Function Documentation
◆ configurePostEvWaypoint()
template<typename TEv >
| void cl_move_base_z::configurePostEvWaypoint | ( | std::function< void()> * | fntarget, |
| ClMoveBaseZ * | client, | ||
| int | index | ||
| ) |
Definition at line 1572 of file waypoints_event_dispatcher.h.
1573{
1574 fntarget[index] = [=]() {
1575 client->template postEvent<TEv>();
1576 };
1577}
◆ makePureSpinningSubPlan()
| geometry_msgs::PoseStamped cl_move_base_z::makePureSpinningSubPlan | ( | const geometry_msgs::PoseStamped & | start, |
| double | dstRads, | ||
| std::vector< geometry_msgs::PoseStamped > & | plan, | ||
| double | puresSpinningRadStep = 1000 |
||
| ) |
Definition at line 13 of file path_tools.cpp.
14 {
15 double startYaw = tf::getYaw(start.pose.orientation);
16 //ROS_INFO("pure spining start yaw: %lf", startYaw);
17 //ROS_INFO("pure spining goal yaw: %lf", dstRads);
18 //ROS_WARN_STREAM("pure spinning start pose: " << start);
19
20 double goalAngleOffset = angles::shortest_angular_distance(startYaw, dstRads);
21 //ROS_INFO("shortest angle: %lf", goalAngleOffset);
22
23 double radstep = 0.005;
24
25 if( goalAngleOffset>=0)
26 {
27 // angle positive turn counterclockwise
28 //ROS_INFO("pure spining counterclockwise");
29 for(double dangle = 0; dangle <= goalAngleOffset;dangle+=radstep )
30 {
31 geometry_msgs::PoseStamped p= start;
32 double yaw = startYaw+ dangle;
33 //ROS_INFO("pure spining counterclockwise, current path yaw: %lf, dangle: %lf, angleoffset %lf, radstep %lf pathsize(%ld)", yaw, dangle, goalAngleOffset, radstep, plan.size());
34 p.pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
35 plan.push_back(p);
36 }
37 }
38 else
39 {
40 // angle positive turn clockwise
41 //ROS_INFO("pure spining clockwise");
42 for(double dangle = 0; dangle >= goalAngleOffset;dangle-=radstep )
43 {
44 //ROS_INFO("dangle: %lf", dangle);
45 geometry_msgs::PoseStamped p= start;
46 double yaw = startYaw+ dangle;
47 //ROS_INFO("pure spining clockwise, yaw: %lf, dangle: %lf, angleoffset %lf radstep %lf", yaw, dangle, goalAngleOffset,radstep);
48 p.pose.orientation = tf::createQuaternionMsgFromYaw(yaw);
49 plan.push_back(p);
50 }
51 }
52
53 //ROS_INFO("pure spining end yaw: %lf", dstRads);
54 geometry_msgs::PoseStamped end= start;
55 end.pose.orientation = tf::createQuaternionMsgFromYaw(dstRads);
56 plan.push_back(end);
57
58 return end;
59 }
Referenced by cl_move_base_z::backward_global_planner::BackwardGlobalPlanner::createDefaultBackwardPath(), and cl_move_base_z::forward_global_planner::ForwardGlobalPlanner::makePlan().
Here is the caller graph for this function:
◆ makePureStraightSubPlan()
| geometry_msgs::PoseStamped cl_move_base_z::makePureStraightSubPlan | ( | const geometry_msgs::PoseStamped & | startOrientedPose, |
| const geometry_msgs::Point & | goal, | ||
| double | length, | ||
| std::vector< geometry_msgs::PoseStamped > & | plan | ||
| ) |
Definition at line 61 of file path_tools.cpp.
65 {
66 double dx = 0.01; // 1 cm
67 double steps = length /dx;
68 double dt = 1.0/steps;
69
70 // geometry_msgs::PoseStamped end;
71 // end.pose.orientation = startOrientedPose.pose.orientation;
72 //end.pose.position = goal;
73 plan.push_back(startOrientedPose);
74
75 //ROS_INFO_STREAM("Pure straight, start: " << startOrientedPose << std::endl << "end: " << goal);
76 for(double t=0; t <=1.0; t+=dt)
77 {
78 geometry_msgs::PoseStamped p = startOrientedPose;
79
80 p.pose.position.x = startOrientedPose.pose.position.x *(1 - t) + goal.x * t;
81 p.pose.position.y = startOrientedPose.pose.position.y *(1 - t) + goal.y * t;
82 p.pose.orientation = startOrientedPose.pose.orientation;
83
84 plan.push_back(p);
85 }
86
87 return plan.back();
88 }
Referenced by cl_move_base_z::backward_global_planner::BackwardGlobalPlanner::createDefaultBackwardPath(), and cl_move_base_z::forward_global_planner::ForwardGlobalPlanner::makePlan().
Here is the caller graph for this function:
◆ sgn()
template<typename T >
| int cl_move_base_z::sgn | ( | T | val | ) |
Definition at line 8 of file cb_undo_path_backwards2.cpp.
9{
10 return (T(0) < val) - (val < T(0));
11}
Referenced by cl_move_base_z::CbUndoPathBackwards2::update().
Here is the caller graph for this function:
