Checks for collision based on a RPP control command. More...

Collaboration diagram for nav2_regulated_pure_pursuit_controller::CollisionChecker:

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Public Member Functions
	CollisionChecker (rclcpp_lifecycle::LifecycleNode::SharedPtr node, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros, Parameters *params)
	Constructor for nav2_regulated_pure_pursuit_controller::CollisionChecker.

	~CollisionChecker ()=default
	Destrructor for nav2_regulated_pure_pursuit_controller::CollisionChecker.

bool	isCollisionImminent (const geometry_msgs::msg::PoseStamped &, const double &, const double &, const double &)
	Whether collision is imminent. More...

bool	inCollision (const double &x, const double &y, const double &theta)
	checks for collision at projected pose More...

double	costAtPose (const double &x, const double &y)
	Cost at a point. More...

Protected Attributes
rclcpp::Logger	logger_ {rclcpp::get_logger("RPPCollisionChecker")}

std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_

nav2_costmap_2d::Costmap2D *	costmap_

std::unique_ptr< nav2_costmap_2d::FootprintCollisionChecker< nav2_costmap_2d::Costmap2D * > >	footprint_collision_checker_

Parameters *	params_

std::shared_ptr< rclcpp_lifecycle::LifecyclePublisher< nav_msgs::msg::Path > >	carrot_arc_pub_

rclcpp::Clock::SharedPtr	clock_

Detailed Description

Checks for collision based on a RPP control command.

Definition at line 43 of file collision_checker.hpp.

Member Function Documentation

double nav2_regulated_pure_pursuit_controller::CollisionChecker::costAtPose	(	const double &	x,
		const double &	y
	)

Cost at a point.

Parameters

x	Pose of pose x
y	Pose of pose y

Definition at line 164 of file collision_checker.cpp.

bool nav2_regulated_pure_pursuit_controller::CollisionChecker::inCollision	(	const double &	x,
		const double &	y,
		const double &	theta
	)

checks for collision at projected pose

Parameters

Definition at line 135 of file collision_checker.cpp.

bool nav2_regulated_pure_pursuit_controller::CollisionChecker::isCollisionImminent	(	const geometry_msgs::msg::PoseStamped &	robot_pose,
		const double &	linear_vel,
		const double &	angular_vel,
		const double &	carrot_dist
	)

Whether collision is imminent.

Parameters

robot_pose	Pose of robot
carrot_pose	Pose of carrot
linear_vel	linear velocity to forward project
angular_vel	angular velocity to forward project
carrot_dist	Distance to the carrot for PP

Definition at line 48 of file collision_checker.cpp.

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

nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/collision_checker.hpp
nav2_regulated_pure_pursuit_controller/src/collision_checker.cpp