trajectory_follower::TrajectoryFollower Class Reference

#include <TrajectoryFollower.hpp>

Public Member Functions
	TrajectoryFollower ()
	TrajectoryFollower (const FollowerConfig &followerConfig)
void	setNewTrajectory (const SubTrajectory &trajectory, const base::Pose &robotPose)
void	removeTrajectory ()
FollowerStatus	traverseTrajectory (Motion2D &motionCmd, const base::Pose &robotPose)
void	computeErrors (const base::Pose &robotPose)
const FollowerData &	getData ()
bool	checkTurnOnSpot ()

Detailed Description

TrajectoryFollower class combines reference pose finder and trajectory controller

Constructor & Destructor Documentation

TrajectoryFollower() [1/2]

TrajectoryFollower::TrajectoryFollower

(

)

Default constructor

TrajectoryFollower() [2/2]

TrajectoryFollower::TrajectoryFollower

(

const FollowerConfig &

followerConfig

)

Contructor which takes in config.

Before using the follower make sure that the object is created using the correct config and this contructor, otherwise the controller will cause runtime error

Member Function Documentation

checkTurnOnSpot()

bool TrajectoryFollower::checkTurnOnSpot

(

)

computeErrors()

void TrajectoryFollower::computeErrors

(

const base::Pose &

robotPose

)

Computes the reference pose and the error relative to this pose

getData()

const FollowerData& trajectory_follower::TrajectoryFollower::getData ( )

inline

Returns the current follower data

removeTrajectory()

void trajectory_follower::TrajectoryFollower::removeTrajectory ( )

inline

Marks the current trajectory as traversed

Stops the current trajectory following and removes the trajectory

setNewTrajectory()

void TrajectoryFollower::setNewTrajectory	(	const SubTrajectory &	trajectory,
		const base::Pose &	robotPose
	)

Sets a new trajectory

Here it checks for the initial stability of the trajectory

traverseTrajectory()

FollowerStatus TrajectoryFollower::traverseTrajectory	(	Motion2D &	motionCmd,
		const base::Pose &	robotPose
	)

Generates motion commands that should make the robot follow the trajectory

< Sets limits on rotational velocity

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

• /build/rock-master-18.09-control-trajectory-follower-0.20170221/src/TrajectoryFollower.hpp
• /build/rock-master-18.09-control-trajectory-follower-0.20170221/src/TrajectoryFollower.cpp