LocalGuidance
A library that generates velocity references to follow a path.
local_guidance_path_follower Namespace Reference

Implementation of a Follow Path Data manager. More...

Classes

class  FollowPathData
 
class  LocalGuidancePathFollower
 

Typedefs

using FollowPathDataPtr = std::unique_ptr< FollowPathData >
 

Enumerations

enum  LocalGuidanceControllerTypes { LocalGuidanceControllerTypes::kUnknown = 0, LocalGuidanceControllerTypes::kNop, LocalGuidanceControllerTypes::kPurePursuit, LocalGuidanceControllerTypes::kDefault }
 Hash values of controller types. More...
 

Functions

const LocalGuidanceControllerTypes getHashControllerName (const std::string &controllerName)
 

Variables

constexpr double kGoalToleranceTranslation = 0.1
 Goal tolerance of last goal to consider path completed. More...
 
constexpr double kGoalToleranceRotation = 0.15
 
constexpr double kWaitTimeSwitchingWalkToStand = 2.0
 Time to wait to switch from walk to stand, after 0 velocity command was published. More...
 

Detailed Description

Implementation of a Follow Path Data manager.

Implementation of a local path follower.

Authors
Marco Tranzatto RSL

Typedef Documentation

Enumeration Type Documentation

Hash values of controller types.

Enumerator
kUnknown 
kNop 
kPurePursuit 
kDefault 

Function Documentation

const LocalGuidanceControllerTypes local_guidance_path_follower::getHashControllerName ( const std::string &  controllerName)
inline

Returns the hash value of a controller based on its name.

Parameters
[in]controllerNamename of the controller as specified in YAML file.
Returns
controller hash as LocalGuidanceControllerTypes.

Variable Documentation

constexpr double local_guidance_path_follower::kGoalToleranceRotation = 0.15
constexpr double local_guidance_path_follower::kGoalToleranceTranslation = 0.1

Goal tolerance of last goal to consider path completed.

constexpr double local_guidance_path_follower::kWaitTimeSwitchingWalkToStand = 2.0

Time to wait to switch from walk to stand, after 0 velocity command was published.