dwb_plugins::XYThetaIterator Class Reference

Inheritance diagram for dwb_plugins::XYThetaIterator:

Collaboration diagram for dwb_plugins::XYThetaIterator:

Public Member Functions
void	initialize (const nav2_util::LifecycleNode::SharedPtr &nh, KinematicsHandler::Ptr kinematics, const std::string &plugin_name) override
void	startNewIteration (const nav_2d_msgs::msg::Twist2D &current_velocity, double dt) override
bool	hasMoreTwists () override
nav_2d_msgs::msg::Twist2D	nextTwist () override

Protected Member Functions
bool	isValidSpeed (double x, double y, double theta)
	Check to see whether the combined x/y/theta velocities are valid. More...
virtual bool	isValidVelocity ()
void	iterateToValidVelocity ()

Protected Attributes
int	vx_samples_
int	vy_samples_
int	vtheta_samples_
KinematicsHandler::Ptr	kinematics_handler_
std::shared_ptr< OneDVelocityIterator >	x_it_
std::shared_ptr< OneDVelocityIterator >	y_it_
std::shared_ptr< OneDVelocityIterator >	th_it_

Detailed Description

Definition at line 47 of file xy_theta_iterator.hpp.

Member Function Documentation

isValidSpeed()

bool dwb_plugins::XYThetaIterator::isValidSpeed ( double  x, double  y, double  theta  )

protected

Check to see whether the combined x/y/theta velocities are valid.

Returns

True if the magnitude hypot(x,y) and theta are within the robot's absolute limits

This is based on three parameters: min_speed_xy, max_speed_xy and min_speed_theta. The speed is valid if 1) The combined magnitude hypot(x,y) is less than max_speed_xy (or max_speed_xy is negative) AND 2) min_speed_xy is negative or min_speed_theta is negative or hypot(x,y) is greater than min_speed_xy or fabs(theta) is greater than min_speed_theta.

Definition at line 95 of file xy_theta_iterator.cpp.

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

• nav2_dwb_controller/dwb_plugins/include/dwb_plugins/xy_theta_iterator.hpp
• nav2_dwb_controller/dwb_plugins/src/xy_theta_iterator.cpp