dwb_plugins::KinematicsHandler Class Reference

A class managing the representation of the robot's kinematics. More...

#include <nav2_dwb_controller/dwb_plugins/include/dwb_plugins/kinematic_parameters.hpp>

Collaboration diagram for dwb_plugins::KinematicsHandler:

Public Types
using	Ptr = std::shared_ptr< KinematicsHandler >

Public Member Functions
void	initialize (const nav2::LifecycleNode::SharedPtr &nh, const std::string &plugin_name)
void	activate ()
void	deactivate ()
KinematicParameters	getKinematics ()
void	setSpeedLimit (const double &speed_limit, const bool &percentage)

Protected Member Functions
rcl_interfaces::msg::SetParametersResult	validateParameterUpdatesCallback (std::vector< rclcpp::Parameter > parameters)
	Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations. More...
void	updateParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values. More...
void	update_kinematics (KinematicParameters kinematics)

Protected Attributes
nav2::LifecycleNode::WeakPtr	node_
rclcpp::Logger	logger_ {rclcpp::get_logger("DWBController")}
std::atomic< KinematicParameters * >	kinematics_
rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr	post_set_params_handler_
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	on_set_params_handler_
std::string	plugin_name_

Detailed Description

A class managing the representation of the robot's kinematics.

Definition at line 139 of file kinematic_parameters.hpp.

Member Function Documentation

updateParametersCallback()

void dwb_plugins::KinematicsHandler::updateParametersCallback ( std::vector< rclcpp::Parameter >  parameters )

protected

Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values.

Parameters

parameters

List of parameters that have been updated.

Definition at line 232 of file kinematic_parameters.cpp.

validateParameterUpdatesCallback()

rcl_interfaces::msg::SetParametersResult dwb_plugins::KinematicsHandler::validateParameterUpdatesCallback ( std::vector< rclcpp::Parameter >  parameters )

protected

Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations.

Parameters

parameters

List of parameters that are being updated.

Returns

rcl_interfaces::msg::SetParametersResult Result indicating whether the update is accepted.

Definition at line 191 of file kinematic_parameters.cpp.

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

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