plugin_demo_plugins_namespace::DirectOrtho Class Reference

This class create a path parallel to the axies of the coordinate system between the start and target pose. More...

#include <direct_ortho.hpp>

Inheritance diagram for plugin_demo_plugins_namespace::DirectOrtho:

Public Member Functions
	DirectOrtho ()
	Intentionally left empty.
virtual	~DirectOrtho ()
	Intentionally left empty.
Public Member Functions inherited from plugin_demo_interface_namespace::PathPlanner
void	initialize (ros::NodeHandle roshandle)
	Initalize the global variables. More...
double	getYawFromQuat (geometry_msgs::Quaternion quat)
	convert a quaternion into yaw More...
void	tfFrameFromPoseStamped (geometry_msgs::PoseStamped *pose, tf::Transform *tf_tf)
	build a tf-frame for a given pose More...
int	setPoints (geometry_msgs::Pose2D *start, geometry_msgs::Pose2D *target)
	replace the current start and target poses and call getPath() More...
int	getPoints (geometry_msgs::Pose2D *start, geometry_msgs::Pose2D *target)
	returns the current start and target poses More...
virtual	~PathPlanner ()
	Intentionally left empty.

Private Member Functions
int	getPath ()
	calculate the third point of the resulting path. More...
int	onInit (ros::NodeHandle roshandle)
	writes only a info-msg. More...

Additional Inherited Members
Protected Member Functions inherited from plugin_demo_interface_namespace::PathPlanner
	PathPlanner ()
	initialize init
void	setPose2d (geometry_msgs::PoseStamped *pose3d, double x, double y, double theta)
	convert a given 2D-Pose into 3D-Stamped-Pose. More...
Protected Attributes inherited from plugin_demo_interface_namespace::PathPlanner
bool	init
	true if initialized. More...
geometry_msgs::PoseStamped	start
	starting pose of the path
geometry_msgs::PoseStamped	target
	last pose of the path
nav_msgs::Path	current_path
	contain the path

Detailed Description

This class create a path parallel to the axies of the coordinate system between the start and target pose.

The resulting path only contain three points. The one in the middle takes the x-value from the start pose and the y-value from the target pose. Theta is the average of the thetas from the two other poses.

Definition at line 18 of file direct_ortho.hpp.

Member Function Documentation

int plugin_demo_plugins_namespace::DirectOrtho::getPath ( )

privatevirtual

calculate the third point of the resulting path.

Returns

error code

Implements plugin_demo_interface_namespace::PathPlanner.

Definition at line 18 of file direct_ortho.cpp.

    {
        current_path.poses.push_back(start);
        
        geometry_msgs::PoseStamped point;
        double yaw = ( getYawFromQuat(start.pose.orientation) + getYawFromQuat(target.pose.orientation) ) / 2;
        setPose2d(&point, start.pose.position.x, target.pose.position.y, yaw);
        current_path.poses.push_back(point);
        
        current_path.poses.push_back(target);
        ROS_INFO("[plugin direct_ortho] here comes the path");
    }

int plugin_demo_plugins_namespace::DirectOrtho::onInit ( ros::NodeHandle  roshandle )

privatevirtual

writes only a info-msg.

Parameters

roshandle

a valid ROS NodeHandle

Returns

error code

Reimplemented from plugin_demo_interface_namespace::PathPlanner.

Definition at line 13 of file direct_ortho.cpp.

    {
        ROS_INFO("[plugin direct_ortho] done init.");
    }

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

• src/plugin_demo_plugins/include/plugin_demo_plugins/direct_ortho.hpp
• src/plugin_demo_plugins/src/direct_ortho.cpp