dwb_core::TrajectoryGenerator Class Reference

Interface for iterating through possible velocities and creating trajectories. More...

#include <nav2_dwb_controller/dwb_core/include/dwb_core/trajectory_generator.hpp>

Inheritance diagram for dwb_core::TrajectoryGenerator:

Public Types
typedef std::shared_ptr< dwb_core::TrajectoryGenerator >	Ptr

Public Member Functions
virtual void	initialize (const nav2_util::LifecycleNode::SharedPtr &nh, const std::string &plugin_name)=0
	Initialize parameters as needed. More...
virtual void	reset ()
virtual void	startNewIteration (const nav_2d_msgs::msg::Twist2D &current_velocity)=0
	Start a new iteration based on the current velocity. More...
virtual bool	hasMoreTwists ()=0
	Test to see whether there are more twists to test. More...
virtual nav_2d_msgs::msg::Twist2D	nextTwist ()=0
	Return the next twist and advance the iteration. More...
virtual std::vector< nav_2d_msgs::msg::Twist2D >	getTwists (const nav_2d_msgs::msg::Twist2D &current_velocity)
	Get all the twists for an iteration. More...
virtual dwb_msgs::msg::Trajectory2D	generateTrajectory (const geometry_msgs::msg::Pose2D &start_pose, const nav_2d_msgs::msg::Twist2D &start_vel, const nav_2d_msgs::msg::Twist2D &cmd_vel)=0
	Given a cmd_vel in the robot's frame and initial conditions, generate a Trajectory2D. More...
virtual void	setSpeedLimit (const double &speed_limit, const bool &percentage)=0
	Limits the maximum linear speed of the robot. More...

Detailed Description

Interface for iterating through possible velocities and creating trajectories.

This class defines the plugin interface for two separate but related components.

First, this class provides an iterator interface for exploring all of the velocities to search, given the current velocity.

Second, the class gives an independent interface for creating a trajectory from a twist, i.e. projecting it out in time and space.

Both components rely heavily on the robot's kinematic model, and can share many parameters, which is why they are grouped into a singular class.

Definition at line 64 of file trajectory_generator.hpp.

Member Function Documentation

generateTrajectory()

virtual dwb_msgs::msg::Trajectory2D dwb_core::TrajectoryGenerator::generateTrajectory ( const geometry_msgs::msg::Pose2D &  start_pose, const nav_2d_msgs::msg::Twist2D &  start_vel, const nav_2d_msgs::msg::Twist2D &  cmd_vel  )

pure virtual

Given a cmd_vel in the robot's frame and initial conditions, generate a Trajectory2D.

Parameters

start_pose	Current robot location
start_vel	Current robot velocity
cmd_vel	The desired command velocity

Implemented in dwb_plugins::StandardTrajectoryGenerator.

getTwists()

virtual std::vector<nav_2d_msgs::msg::Twist2D> dwb_core::TrajectoryGenerator::getTwists ( const nav_2d_msgs::msg::Twist2D &  current_velocity )

inlinevirtual

Get all the twists for an iteration.

Note: Resets the iterator if one is in process

Parameters

current_velocity

Returns

all the twists

Definition at line 105 of file trajectory_generator.hpp.

References hasMoreTwists(), nextTwist(), and startNewIteration().

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hasMoreTwists()

virtual bool dwb_core::TrajectoryGenerator::hasMoreTwists ( )

pure virtual

Test to see whether there are more twists to test.

Returns

True if more twists, false otherwise

Implemented in dwb_plugins::StandardTrajectoryGenerator.

Referenced by getTwists().

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initialize()

virtual void dwb_core::TrajectoryGenerator::initialize ( const nav2_util::LifecycleNode::SharedPtr &  nh, const std::string &  plugin_name  )

pure virtual

Initialize parameters as needed.

Parameters

nh	NodeHandle to read parameters from

Implemented in dwb_plugins::StandardTrajectoryGenerator, and dwb_plugins::LimitedAccelGenerator.

nextTwist()

virtual nav_2d_msgs::msg::Twist2D dwb_core::TrajectoryGenerator::nextTwist ( )

pure virtual

Return the next twist and advance the iteration.

Returns

The Twist!

Implemented in dwb_plugins::StandardTrajectoryGenerator.

Referenced by getTwists().

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setSpeedLimit()

virtual void dwb_core::TrajectoryGenerator::setSpeedLimit ( const double &  speed_limit, const bool &  percentage  )

pure virtual

Limits the maximum linear speed of the robot.

Parameters

speed_limit	expressed in absolute value (in m/s) or in percentage from maximum robot speed.
percentage	Setting speed limit in percentage if true or in absolute values in false case.

Implemented in dwb_plugins::StandardTrajectoryGenerator.

startNewIteration()

virtual void dwb_core::TrajectoryGenerator::startNewIteration ( const nav_2d_msgs::msg::Twist2D &  current_velocity )

pure virtual

Start a new iteration based on the current velocity.

Parameters

current_velocity

Implemented in dwb_plugins::StandardTrajectoryGenerator, and dwb_plugins::LimitedAccelGenerator.

Referenced by getTwists().

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

• nav2_dwb_controller/dwb_core/include/dwb_core/trajectory_generator.hpp