cl_move_base_z::odom_tracker::OdomTracker Class Reference

This class track the required distance of the cord based on the external localization system. More...

#include <odom_tracker.h>

Inheritance diagram for cl_move_base_z::odom_tracker::OdomTracker:

Collaboration diagram for cl_move_base_z::odom_tracker::OdomTracker:

Public Member Functions
	OdomTracker (std::string odomtopicName="/odom", std::string odomFrame="odom")
virtual void	processOdometryMessage (const nav_msgs::Odometry &odom)
	odom callback: Updates the path - this must be called periodically for each odometry message. More...
void	setWorkingMode (WorkingMode workingMode)
void	setPublishMessages (bool value)
void	pushPath (std::string newPathTagName="")
void	popPath (int pathCount=1, bool keepPreviousPath=false)
void	clearPath ()
void	setStartPoint (const geometry_msgs::PoseStamped &pose)
void	setStartPoint (const geometry_msgs::Pose &pose)
nav_msgs::Path	getPath ()
void	logStateString ()
const std::vector< StackedPathEntry >	getStackedPaths () const
Public Member Functions inherited from smacc::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Protected Member Functions
void	reconfigCB (move_base_z_client_plugin::OdomTrackerConfig &config, uint32_t level)
virtual void	rtPublishPaths (ros::Time timestamp)
virtual bool	updateRecordPath (const nav_msgs::Odometry &odom)
virtual bool	updateClearPath (const nav_msgs::Odometry &odom)
void	updateAggregatedStackPath ()
Protected Member Functions inherited from smacc::ISmaccComponent
virtual void	initialize (ISmaccClient *owner)
void	setStateMachine (ISmaccStateMachine *stateMachine)
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
virtual void	onInitialize ()
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)

Protected Attributes
dynamic_reconfigure::Server< move_base_z_client_plugin::OdomTrackerConfig >	paramServer_
dynamic_reconfigure::Server< move_base_z_client_plugin::OdomTrackerConfig >::CallbackType	f
std::shared_ptr< realtime_tools::RealtimePublisher< nav_msgs::Path > >	robotBasePathPub_
std::shared_ptr< realtime_tools::RealtimePublisher< nav_msgs::Path > >	robotBasePathStackedPub_
ros::Subscriber	odomSub_
double	recordPointDistanceThreshold_
	How much distance there is between two points of the path. More...
double	recordAngularDistanceThreshold_
	Meters. More...
double	clearPointDistanceThreshold_
	rads More...
double	clearAngularDistanceThreshold_
	rads More...
std::string	odomFrame_
bool	publishMessages
nav_msgs::Path	baseTrajectory_
	Processed path for the mouth of the reel. More...
WorkingMode	workingMode_
std::vector< StackedPathEntry >	pathStack_
nav_msgs::Path	aggregatedStackPathMsg_
bool	subscribeToOdometryTopic_
std::string	currentPathTagName_ ="Initial State"
std::mutex	m_mutex_
Protected Attributes inherited from smacc::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

This class track the required distance of the cord based on the external localization system.

Definition at line 46 of file odom_tracker.h.

Constructor & Destructor Documentation

OdomTracker()

cl_move_base_z::odom_tracker::OdomTracker::OdomTracker	(	std::string	odomtopicName = "/odom",
		std::string	odomFrame = "odom"
	)

Definition at line 14 of file odom_tracker.cpp.

  : paramServer_(ros::NodeHandle("~/odom_tracker"))
{
  workingMode_ = WorkingMode::RECORD_PATH;
  publishMessages = true;
  subscribeToOdometryTopic_ = true;
  this->odomFrame_ = odomFrame;
 
  ros::NodeHandle nh("~/odom_tracker");
 
  ROS_WARN("Initializing Odometry Tracker");
 
  if (!nh.getParam("odom_frame", this->odomFrame_))
  {
    ROS_INFO_STREAM("[OdomTracker] odomFrame:" << this->odomFrame_);
  }
  ROS_INFO_STREAM("[OdomTracker] odomFrame overwritten by ros parameter:" << this->odomFrame_);
 
  if (!nh.getParam("record_point_distance_threshold", recordPointDistanceThreshold_))
  {
    recordPointDistanceThreshold_ = 0.005;  // 5 mm
  }
  ROS_INFO_STREAM("[OdomTracker] record_point_distance_threshold :" << recordPointDistanceThreshold_);
 
  if (!nh.getParam("record_angular_distance_threshold", recordAngularDistanceThreshold_))
  {
    recordAngularDistanceThreshold_ = 0.1;  // radians
  }
  ROS_INFO_STREAM("[OdomTracker] record_angular_distance_threshold :" << recordAngularDistanceThreshold_);
 
  if (!nh.getParam("clear_point_distance_threshold", clearPointDistanceThreshold_))
  {
    clearPointDistanceThreshold_ = 0.05;  // 5 cm
  }
  ROS_INFO_STREAM("[OdomTracker] clear_point_distance_threshold :" << clearPointDistanceThreshold_);
 
  if (!nh.getParam("clear_angular_distance_threshold", clearAngularDistanceThreshold_))
  {
    clearAngularDistanceThreshold_ = 0.1;  // radians
  }
  ROS_INFO_STREAM("[OdomTracker] clear_angular_distance_threshold :" << clearAngularDistanceThreshold_);
 
  if (this->subscribeToOdometryTopic_)
  {
    odomSub_ = nh.subscribe(odomTopicName, 1, &OdomTracker::processOdometryMessage, this);
  }
 
  robotBasePathPub_ = std::make_shared<realtime_tools::RealtimePublisher<nav_msgs::Path>>(nh, "odom_tracker_path", 1);
  robotBasePathStackedPub_ =
      std::make_shared<realtime_tools::RealtimePublisher<nav_msgs::Path>>(nh, "odom_tracker_stacked_path", 1);
 
  f = boost::bind(&OdomTracker::reconfigCB, this, _1, _2);
  paramServer_.setCallback(f);
}

References clearAngularDistanceThreshold_, clearPointDistanceThreshold_, f, odomFrame_, odomSub_, paramServer_, processOdometryMessage(), publishMessages, reconfigCB(), cl_move_base_z::odom_tracker::RECORD_PATH, recordAngularDistanceThreshold_, recordPointDistanceThreshold_, robotBasePathPub_, robotBasePathStackedPub_, subscribeToOdometryTopic_, and workingMode_.

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Member Function Documentation

clearPath()

void cl_move_base_z::odom_tracker::OdomTracker::clearPath

(

)

Definition at line 166 of file odom_tracker.cpp.

{
  std::lock_guard<std::mutex> lock(m_mutex_);
  baseTrajectory_.poses.clear();
 
  rtPublishPaths(ros::Time::now());
  this->logStateString();
  this->updateAggregatedStackPath();
}

References baseTrajectory_, logStateString(), m_mutex_, rtPublishPaths(), and updateAggregatedStackPath().

Referenced by cl_move_base_z::CbNavigateBackwards::onEntry().

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getPath()

nav_msgs::Path cl_move_base_z::odom_tracker::OdomTracker::getPath

(

)

Definition at line 211 of file odom_tracker.cpp.

{
  std::lock_guard<std::mutex> lock(m_mutex_);
  return this->baseTrajectory_;
}

References baseTrajectory_, and m_mutex_.

Referenced by cl_move_base_z::CbUndoPathBackwards2::onEntry().

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getStackedPaths()

const std::vector< StackedPathEntry > cl_move_base_z::odom_tracker::OdomTracker::getStackedPaths ( ) const

inline

Definition at line 85 of file odom_tracker.h.

    {
        return this->pathStack_;
    }

References pathStack_.

logStateString()

void cl_move_base_z::odom_tracker::OdomTracker::logStateString

(

)

Definition at line 152 of file odom_tracker.cpp.

{
  ROS_INFO("--- odom tracker state ---");
  ROS_INFO(" - stacked paths count: %ld", pathStack_.size());
  ROS_INFO_STREAM(" - [STACK-HEAD active path '" << currentPathTagName_ <<"' size: "<< baseTrajectory_.poses.size()<<"]");
  int i = 0;
  for (auto &p : pathStack_ | boost::adaptors::reversed)
  {
    ROS_INFO_STREAM(" - p " << i << "[" <<  p.path.header.stamp <<  "][" << p.pathTagName << "], size: " << p.path.poses.size());
    i++;
  }
  ROS_INFO("---");
}

References baseTrajectory_, currentPathTagName_, and pathStack_.

Referenced by clearPath(), popPath(), and pushPath().

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popPath()

void cl_move_base_z::odom_tracker::OdomTracker::popPath	(	int	pathCount = 1,
		bool	keepPreviousPath = false
	)

Definition at line 122 of file odom_tracker.cpp.

{
  ROS_INFO("odom_tracker m_mutex acquire");
  std::lock_guard<std::mutex> lock(m_mutex_);
 
  ROS_INFO("POP PATH ENTRY");
  this->logStateString();
 
  if (!keepPreviousPath)
  {
    baseTrajectory_.poses.clear();
  }
 
  while (popCount > 0 && !pathStack_.empty())
  {
    auto &stacked = pathStack_.back().path.poses;
    baseTrajectory_.poses.insert(baseTrajectory_.poses.begin(), stacked.begin(), stacked.end());
    pathStack_.pop_back();
    popCount--;
 
    ROS_INFO("POP PATH Iteration ");
    this->logStateString();
  }
 
  ROS_INFO("POP PATH EXITING");
  this->logStateString();
  ROS_INFO("odom_tracker m_mutex release");
  this->updateAggregatedStackPath();
}

References baseTrajectory_, logStateString(), m_mutex_, pathStack_, and updateAggregatedStackPath().

Referenced by OdomTrackerActionServer::execute().

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processOdometryMessage()

void cl_move_base_z::odom_tracker::OdomTracker::processOdometryMessage ( const nav_msgs::Odometry &  odom )

virtual

odom callback: Updates the path - this must be called periodically for each odometry message.

processOdometryMessage()

Definition at line 403 of file odom_tracker.cpp.

{
  // ROS_INFO("odom_tracker m_mutex acquire");
  std::lock_guard<std::mutex> lock(m_mutex_);
 
  if (workingMode_ == WorkingMode::RECORD_PATH)
  {
    updateRecordPath(odom);
  }
  else if (workingMode_ == WorkingMode::CLEAR_PATH)
  {
    updateClearPath(odom);
  }
 
  // ROS_WARN("odomTracker odometry callback");
  if (publishMessages)
  {
    rtPublishPaths(odom.header.stamp);
  }
 
  // ROS_INFO("odom_tracker m_mutex release");
}

References cl_move_base_z::odom_tracker::CLEAR_PATH, m_mutex_, publishMessages, cl_move_base_z::odom_tracker::RECORD_PATH, rtPublishPaths(), updateClearPath(), updateRecordPath(), and workingMode_.

Referenced by OdomTracker().

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pushPath()

void cl_move_base_z::odom_tracker::OdomTracker::pushPath

(

std::string

newPathTagName = ""

)

Definition at line 97 of file odom_tracker.cpp.

{
  ROS_INFO("odom_tracker m_mutex acquire");
  std::lock_guard<std::mutex> lock(m_mutex_);
  ROS_INFO("PUSH_PATH PATH EXITING");
  this->logStateString();
 
  pathStack_.push_back({baseTrajectory_, this->currentPathTagName_});
  baseTrajectory_.poses.clear();
 
  if(newPathTagName =="")
  {
    this->currentPathTagName_="(unspecified path name)";
  }
  else
  {
    this->currentPathTagName_ = newPathTagName;
  }
 
  ROS_INFO("PUSH_PATH PATH EXITING");
  this->logStateString();
  ROS_INFO("odom_tracker m_mutex release");
  this->updateAggregatedStackPath();
}

References baseTrajectory_, currentPathTagName_, logStateString(), m_mutex_, pathStack_, and updateAggregatedStackPath().

Referenced by OdomTrackerActionServer::execute(), cl_move_base_z::CbAbsoluteRotate::onEntry(), and cl_move_base_z::CbNavigateForward::onEntry().

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reconfigCB()

void cl_move_base_z::odom_tracker::OdomTracker::reconfigCB ( move_base_z_client_plugin::OdomTrackerConfig &  config, uint32_t  level  )

protected

reconfigCB()

Definition at line 387 of file odom_tracker.cpp.

{
  ROS_INFO("[OdomTracker] reconfigure Request");
  this->odomFrame_ = config.odom_frame;
 
  this->recordPointDistanceThreshold_ = config.record_point_distance_threshold;
  this->recordAngularDistanceThreshold_ = config.record_angular_distance_threshold;
  this->clearPointDistanceThreshold_ = config.clear_point_distance_threshold;
  this->clearAngularDistanceThreshold_ = config.clear_angular_distance_threshold;
}

References clearAngularDistanceThreshold_, clearPointDistanceThreshold_, odomFrame_, recordAngularDistanceThreshold_, and recordPointDistanceThreshold_.

Referenced by OdomTracker().

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rtPublishPaths()

void cl_move_base_z::odom_tracker::OdomTracker::rtPublishPaths ( ros::Time  timestamp )

protectedvirtual

rtPublishPaths()

Copy trajectory

Copy trajectory

Definition at line 222 of file odom_tracker.cpp.

{
  if (robotBasePathPub_->trylock())
  {
    nav_msgs::Path &msg = robotBasePathPub_->msg_;
 
    msg = baseTrajectory_;
 
    msg.header.stamp = timestamp;
    robotBasePathPub_->unlockAndPublish();
  }
 
  if (robotBasePathStackedPub_->trylock())
  {
    nav_msgs::Path &msg = robotBasePathStackedPub_->msg_;
 
    msg = aggregatedStackPathMsg_;
    msg.header.stamp = timestamp;
    robotBasePathStackedPub_->unlockAndPublish();
  }
}

References aggregatedStackPathMsg_, baseTrajectory_, robotBasePathPub_, and robotBasePathStackedPub_.

Referenced by clearPath(), and processOdometryMessage().

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setPublishMessages()

void cl_move_base_z::odom_tracker::OdomTracker::setPublishMessages

(

bool

value

)

setPublishMessages()

Definition at line 88 of file odom_tracker.cpp.

{
  // ROS_INFO("odom_tracker m_mutex acquire");
  std::lock_guard<std::mutex> lock(m_mutex_);
  publishMessages = value;
  // ROS_INFO("odom_tracker m_mutex release");
  this->updateAggregatedStackPath();
}

References m_mutex_, publishMessages, and updateAggregatedStackPath().

Referenced by OdomTrackerActionServer::execute().

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setStartPoint() [1/2]

void cl_move_base_z::odom_tracker::OdomTracker::setStartPoint

(

const geometry_msgs::Pose &

pose

)

Definition at line 191 of file odom_tracker.cpp.

{
  std::lock_guard<std::mutex> lock(m_mutex_);
  ROS_INFO_STREAM("[OdomTracker] set current path starting point: " << pose);
  geometry_msgs::PoseStamped posestamped;
  posestamped.header.frame_id = this->odomFrame_;
  posestamped.header.stamp = ros::Time::now();
  posestamped.pose = pose;
 
  if (baseTrajectory_.poses.size() > 0)
  {
    baseTrajectory_.poses[0] = posestamped;
  }
  else
  {
    baseTrajectory_.poses.push_back(posestamped);
  }
  this->updateAggregatedStackPath();
}

References baseTrajectory_, m_mutex_, odomFrame_, and updateAggregatedStackPath().

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setStartPoint() [2/2]

void cl_move_base_z::odom_tracker::OdomTracker::setStartPoint

(

const geometry_msgs::PoseStamped &

pose

)

Definition at line 176 of file odom_tracker.cpp.

{
  std::lock_guard<std::mutex> lock(m_mutex_);
  ROS_INFO_STREAM("[OdomTracker] set current path starting point: " << pose);
  if (baseTrajectory_.poses.size() > 0)
  {
    baseTrajectory_.poses[0] = pose;
  }
  else
  {
    baseTrajectory_.poses.push_back(pose);
  }
  this->updateAggregatedStackPath();
}

References baseTrajectory_, m_mutex_, and updateAggregatedStackPath().

Referenced by cl_move_base_z::CbNavigateBackwards::onEntry(), and cl_move_base_z::CbNavigateForward::onEntry().

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setWorkingMode()

void cl_move_base_z::odom_tracker::OdomTracker::setWorkingMode

(

WorkingMode

workingMode

)

setWorkingMode()

Definition at line 74 of file odom_tracker.cpp.

{
  // ROS_INFO("odom_tracker m_mutex acquire");
  std::lock_guard<std::mutex> lock(m_mutex_);
  ROS_INFO("[OdomTracker] setting working mode to: %d", (uint8_t)workingMode);
  workingMode_ = workingMode;
  // ROS_INFO("odom_tracker m_mutex release");
}

References m_mutex_, and workingMode_.

Referenced by OdomTrackerActionServer::execute(), cl_move_base_z::CbNavigateBackwards::onEntry(), cl_move_base_z::CbNavigateForward::onEntry(), cl_move_base_z::CbUndoPathBackwards2::onEntry(), cl_move_base_z::CbNavigateBackwards::onExit(), and cl_move_base_z::CbNavigateForward::onExit().

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updateAggregatedStackPath()

void cl_move_base_z::odom_tracker::OdomTracker::updateAggregatedStackPath ( )

protected

Definition at line 246 of file odom_tracker.cpp.

{
  aggregatedStackPathMsg_.poses.clear();
  for (auto &p : pathStack_)
  {
    aggregatedStackPathMsg_.poses.insert(aggregatedStackPathMsg_.poses.end(), p.path.poses.begin(), p.path.poses.end());
  }
 
  aggregatedStackPathMsg_.header.frame_id = this->odomFrame_;
}

References aggregatedStackPathMsg_, odomFrame_, and pathStack_.

Referenced by clearPath(), popPath(), pushPath(), setPublishMessages(), and setStartPoint().

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updateClearPath()

bool cl_move_base_z::odom_tracker::OdomTracker::updateClearPath ( const nav_msgs::Odometry &  odom )

protectedvirtual

updateBackward()

Track robot base pose

Not removing point because it is enough far from the last cord point

Definition at line 262 of file odom_tracker.cpp.

{
  // we initially accept any message if the queue is empty
  geometry_msgs::PoseStamped base_pose;
 
  base_pose.pose = odom.pose.pose;
  base_pose.header = odom.header;
  baseTrajectory_.header = odom.header;
 
  bool acceptBackward = false;
  bool clearingError = false;
  bool finished = false;
 
  while (!finished)
  {
    if (baseTrajectory_.poses.size() <= 1)  // we at least keep always the first point of the forward path when clearing
                                            // (this is important for backwards planner replanning and not losing the
                                            // last goal)
    {
      acceptBackward = false;
      finished = true;
    }
    else
    {
      auto &carrotPose = baseTrajectory_.poses.back().pose;
      const geometry_msgs::Point &carrotPoint = carrotPose.position;
      double carrotAngle = tf::getYaw(carrotPose.orientation);
 
      auto &currePose = base_pose.pose;
      const geometry_msgs::Point &currePoint = currePose.position;
      double currentAngle = tf::getYaw(currePose.orientation);
 
      double lastpointdist = p2pDistance(carrotPoint, currePoint);
      double goalAngleOffset = fabs(angles::shortest_angular_distance(carrotAngle, currentAngle));
 
      acceptBackward = !baseTrajectory_.poses.empty() && lastpointdist < clearPointDistanceThreshold_ &&
                       goalAngleOffset < clearAngularDistanceThreshold_;
 
      clearingError = lastpointdist > 2 * clearPointDistanceThreshold_;
      ROS_DEBUG_STREAM("[OdomTracker] clearing (accepted: " << acceptBackward << ") linerr: " << lastpointdist
                                                            << ", anglerr: " << goalAngleOffset);
    }
 
    // ROS_INFO("Backwards, last distance: %lf < %lf accept: %d", dist, minPointDistanceBackwardThresh_,
    // acceptBackward);
    if (acceptBackward && baseTrajectory_.poses.size() > 1) /*we always leave at least one item, specially interesting
                                                               for the backward local planner reach the backwards goal
                                                               with precision enough*/
    {
      baseTrajectory_.poses.pop_back();
    }
    else if (clearingError)
    {
      finished = true;
      ROS_WARN("[OdomTracker] Incorrect odom clearing motion.");
    }
    else
    {
      finished = true;
    }
  }
 
  return acceptBackward;
}

References baseTrajectory_, clearAngularDistanceThreshold_, clearPointDistanceThreshold_, and cl_move_base_z::odom_tracker::p2pDistance().

Referenced by processOdometryMessage().

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updateRecordPath()

bool cl_move_base_z::odom_tracker::OdomTracker::updateRecordPath ( const nav_msgs::Odometry &  odom )

protectedvirtual

updateRecordPath()

Track robot base pose

Definition at line 333 of file odom_tracker.cpp.

{
  geometry_msgs::PoseStamped base_pose;
 
  base_pose.pose = odom.pose.pose;
  base_pose.header = odom.header;
  baseTrajectory_.header = odom.header;
 
  bool enqueueOdomMessage = false;
 
  double dist = -1;
  if (baseTrajectory_.poses.empty())
  {
    enqueueOdomMessage = true;
  }
  else
  {
    const auto &prevPose = baseTrajectory_.poses.back().pose;
    const geometry_msgs::Point &prevPoint = prevPose.position;
    double prevAngle = tf::getYaw(prevPose.orientation);
 
    const geometry_msgs::Point &currePoint = base_pose.pose.position;
    double currentAngle = tf::getYaw(base_pose.pose.orientation);
 
    dist = p2pDistance(prevPoint, currePoint);
    double goalAngleOffset = fabs(angles::shortest_angular_distance(prevAngle, currentAngle));
 
    // ROS_WARN("dist %lf vs min %lf", dist, recordPointDistanceThreshold_);
 
    if (dist > recordPointDistanceThreshold_ || goalAngleOffset > recordAngularDistanceThreshold_)
    {
      enqueueOdomMessage = true;
    }
    else
    {
      // ROS_WARN("skip odom, dist: %lf", dist);
      enqueueOdomMessage = false;
    }
  }
 
  if (enqueueOdomMessage)
  {
    baseTrajectory_.poses.push_back(base_pose);
  }
 
  return enqueueOdomMessage;
}

References baseTrajectory_, cl_move_base_z::odom_tracker::p2pDistance(), recordAngularDistanceThreshold_, and recordPointDistanceThreshold_.

Referenced by processOdometryMessage().

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Member Data Documentation

aggregatedStackPathMsg_

nav_msgs::Path cl_move_base_z::odom_tracker::OdomTracker::aggregatedStackPathMsg_

protected

Definition at line 142 of file odom_tracker.h.

Referenced by rtPublishPaths(), and updateAggregatedStackPath().

baseTrajectory_

nav_msgs::Path cl_move_base_z::odom_tracker::OdomTracker::baseTrajectory_

protected

Processed path for the mouth of the reel.

Definition at line 136 of file odom_tracker.h.

Referenced by clearPath(), getPath(), logStateString(), popPath(), pushPath(), rtPublishPaths(), setStartPoint(), updateClearPath(), and updateRecordPath().

clearAngularDistanceThreshold_

double cl_move_base_z::odom_tracker::OdomTracker::clearAngularDistanceThreshold_

protected

rads

Definition at line 127 of file odom_tracker.h.

Referenced by OdomTracker(), reconfigCB(), and updateClearPath().

clearPointDistanceThreshold_

double cl_move_base_z::odom_tracker::OdomTracker::clearPointDistanceThreshold_

protected

rads

Definition at line 124 of file odom_tracker.h.

Referenced by OdomTracker(), reconfigCB(), and updateClearPath().

currentPathTagName_

std::string cl_move_base_z::odom_tracker::OdomTracker::currentPathTagName_ ="Initial State"

protected

Definition at line 147 of file odom_tracker.h.

Referenced by logStateString(), and pushPath().

f

dynamic_reconfigure::Server<move_base_z_client_plugin::OdomTrackerConfig>::CallbackType cl_move_base_z::odom_tracker::OdomTracker::f

protected

Definition at line 92 of file odom_tracker.h.

Referenced by OdomTracker().

m_mutex_

std::mutex cl_move_base_z::odom_tracker::OdomTracker::m_mutex_

protected

Definition at line 149 of file odom_tracker.h.

Referenced by clearPath(), getPath(), popPath(), processOdometryMessage(), pushPath(), setPublishMessages(), setStartPoint(), and setWorkingMode().

odomFrame_

std::string cl_move_base_z::odom_tracker::OdomTracker::odomFrame_

protected

Definition at line 129 of file odom_tracker.h.

Referenced by OdomTracker(), reconfigCB(), setStartPoint(), and updateAggregatedStackPath().

odomSub_

ros::Subscriber cl_move_base_z::odom_tracker::OdomTracker::odomSub_

protected

Definition at line 114 of file odom_tracker.h.

Referenced by OdomTracker().

paramServer_

dynamic_reconfigure::Server<move_base_z_client_plugin::OdomTrackerConfig> cl_move_base_z::odom_tracker::OdomTracker::paramServer_

protected

Definition at line 91 of file odom_tracker.h.

Referenced by OdomTracker().

pathStack_

std::vector<StackedPathEntry> cl_move_base_z::odom_tracker::OdomTracker::pathStack_

protected

Definition at line 140 of file odom_tracker.h.

Referenced by getStackedPaths(), logStateString(), popPath(), pushPath(), and updateAggregatedStackPath().

publishMessages

bool cl_move_base_z::odom_tracker::OdomTracker::publishMessages

protected

Definition at line 133 of file odom_tracker.h.

Referenced by OdomTracker(), processOdometryMessage(), and setPublishMessages().

recordAngularDistanceThreshold_

double cl_move_base_z::odom_tracker::OdomTracker::recordAngularDistanceThreshold_

protected

Meters.

Definition at line 121 of file odom_tracker.h.

Referenced by OdomTracker(), reconfigCB(), and updateRecordPath().

recordPointDistanceThreshold_

double cl_move_base_z::odom_tracker::OdomTracker::recordPointDistanceThreshold_

protected

How much distance there is between two points of the path.

Definition at line 118 of file odom_tracker.h.

Referenced by OdomTracker(), reconfigCB(), and updateRecordPath().

robotBasePathPub_

std::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::Path> > cl_move_base_z::odom_tracker::OdomTracker::robotBasePathPub_

protected

Definition at line 108 of file odom_tracker.h.

Referenced by OdomTracker(), and rtPublishPaths().

robotBasePathStackedPub_

std::shared_ptr<realtime_tools::RealtimePublisher<nav_msgs::Path> > cl_move_base_z::odom_tracker::OdomTracker::robotBasePathStackedPub_

protected

Definition at line 109 of file odom_tracker.h.

Referenced by OdomTracker(), and rtPublishPaths().

subscribeToOdometryTopic_

bool cl_move_base_z::odom_tracker::OdomTracker::subscribeToOdometryTopic_

protected

Definition at line 145 of file odom_tracker.h.

Referenced by OdomTracker().

workingMode_

WorkingMode cl_move_base_z::odom_tracker::OdomTracker::workingMode_

protected

Definition at line 138 of file odom_tracker.h.

Referenced by OdomTracker(), processOdometryMessage(), and setWorkingMode().

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

• smacc_client_library/move_base_z_client/move_base_z_client_plugin/include/move_base_z_client_plugin/components/odom_tracker/odom_tracker.h
• smacc_client_library/move_base_z_client/move_base_z_client_plugin/src/components/odom_tracker/odom_tracker.cpp