car_maneuver_recovery::CarManeuverRecovery Class Reference

A move base plugin that implements car like maneuvers as a recovery behavior. More...

#include <car_maneuver_recovery.h>

Inheritance diagram for car_maneuver_recovery::CarManeuverRecovery:

Public Member Functions
	CarManeuverRecovery ()
	Constructor. More...
void	initialize (std::string name, tf::TransformListener *tfListener, costmap_2d::Costmap2DROS *globalCostmapROS, costmap_2d::Costmap2DROS *localCostmapROS)
	Initializes plugin. More...
double	lineCost (geometry_msgs::Point point1, geometry_msgs::Point point2)
	Calculates line cost. More...
void	runBehavior ()
	Executes the car maneuver recovery behavior. More...
	~CarManeuverRecovery ()
	Destructor. More...

Private Attributes
bool	crabSteering_
	use crab steering instead of counter steering or ackermann steering More...
bool	fourWheelSteering_
	four wheel steering status More...
costmap_2d::Costmap2DROS *	globalCostmapROS_
	global costmap ros wrapper ptr More...
bool	initialized_
	contains the initialization state of the plugin More...
costmap_2d::Costmap2DROS *	localCostmapROS_
	local costmap ros wrapper ptr More...
std::string	name_
	name of instance More...
double	recoverySpeed_
	max speed of robot More...
double	recoverySteeringAngle_
	max steering angle of robot More...
tf::TransformListener *	tfListener_
	tf transform listener More...
double	timeout_
	recovery behavior timeout More...
ros::Publisher	twistPub_
	twist publisher More...
double	wheelbase_
	wheelbase of robot More...
base_local_planner::CostmapModel *	worldModel_
	costmap world model More...

Detailed Description

A move base plugin that implements car like maneuvers as a recovery behavior.

Definition at line 56 of file car_maneuver_recovery.h.

Constructor & Destructor Documentation

car_maneuver_recovery::CarManeuverRecovery::CarManeuverRecovery

(

)

Constructor.

car_maneuver_recovery::CarManeuverRecovery::~CarManeuverRecovery

(

)

Destructor.

Member Function Documentation

void car_maneuver_recovery::CarManeuverRecovery::initialize	(	std::string	name,
		tf::TransformListener *	tfListener,
		costmap_2d::Costmap2DROS *	globalCostmapROS,
		costmap_2d::Costmap2DROS *	localCostmapROS
	)

Initializes plugin.

Parameters

name	name of instance
tfListener	ptr to the tf transform listener of the node
globalCostmapROS	ptr to the global costmap of the node
localCostmapROS	ptr to the local costmap of the node

double car_maneuver_recovery::CarManeuverRecovery::lineCost	(	geometry_msgs::Point	point1,
		geometry_msgs::Point	point2
	)

Calculates line cost.

Parameters

point1	line start point
point2	line end point

void car_maneuver_recovery::CarManeuverRecovery::runBehavior

(

)

Executes the car maneuver recovery behavior.

Member Data Documentation

bool car_maneuver_recovery::CarManeuverRecovery::crabSteering_

private

use crab steering instead of counter steering or ackermann steering

Definition at line 121 of file car_maneuver_recovery.h.

bool car_maneuver_recovery::CarManeuverRecovery::fourWheelSteering_

private

four wheel steering status

Definition at line 119 of file car_maneuver_recovery.h.

costmap_2d::Costmap2DROS* car_maneuver_recovery::CarManeuverRecovery::globalCostmapROS_

private

global costmap ros wrapper ptr

Definition at line 108 of file car_maneuver_recovery.h.

bool car_maneuver_recovery::CarManeuverRecovery::initialized_

private

contains the initialization state of the plugin

Definition at line 98 of file car_maneuver_recovery.h.

costmap_2d::Costmap2DROS* car_maneuver_recovery::CarManeuverRecovery::localCostmapROS_

private

local costmap ros wrapper ptr

Definition at line 106 of file car_maneuver_recovery.h.

std::string car_maneuver_recovery::CarManeuverRecovery::name_

private

name of instance

Definition at line 96 of file car_maneuver_recovery.h.

double car_maneuver_recovery::CarManeuverRecovery::recoverySpeed_

private

max speed of robot

Definition at line 113 of file car_maneuver_recovery.h.

double car_maneuver_recovery::CarManeuverRecovery::recoverySteeringAngle_

private

max steering angle of robot

Definition at line 115 of file car_maneuver_recovery.h.

tf::TransformListener* car_maneuver_recovery::CarManeuverRecovery::tfListener_

private

tf transform listener

Definition at line 104 of file car_maneuver_recovery.h.

double car_maneuver_recovery::CarManeuverRecovery::timeout_

private

recovery behavior timeout

Definition at line 123 of file car_maneuver_recovery.h.

ros::Publisher car_maneuver_recovery::CarManeuverRecovery::twistPub_

private

twist publisher

Definition at line 101 of file car_maneuver_recovery.h.

double car_maneuver_recovery::CarManeuverRecovery::wheelbase_

private

wheelbase of robot

Definition at line 117 of file car_maneuver_recovery.h.

base_local_planner::CostmapModel* car_maneuver_recovery::CarManeuverRecovery::worldModel_

private

costmap world model

Definition at line 110 of file car_maneuver_recovery.h.

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

• car_maneuver_recovery.h