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‎SerestController_8hpp_source.html‎

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<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span>} <span class="comment">// namespace easynav</span></div>
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<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> </div>
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<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span><span class="preprocessor">#endif </span><span class="comment">// EASYNAV_SEREST_CONTROLLER__SERESTCONTROLLER_HPP_</span></div>
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<div class="ttc" id="aclasseasynav_1_1SerestController_html_a6ed380ba537bbe9a85710810db50a95c"><div class="ttname"><a href="classeasynav_1_1SerestController.html#a6ed380ba537bbe9a85710810db50a95c">easynav::SerestController::update_rt</a></div><div class="ttdeci">void update_rt(NavState &amp;nav_state) override</div><div class="ttdoc">Real-time control update (called ~20–30 Hz).</div><div class="ttdef"><b>Definition</b> SerestController.cpp:620</div></div>
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<div class="ttc" id="aclasseasynav_1_1SerestController_html_a6ed380ba537bbe9a85710810db50a95c"><div class="ttname"><a href="classeasynav_1_1SerestController.html#a6ed380ba537bbe9a85710810db50a95c">easynav::SerestController::update_rt</a></div><div class="ttdeci">void update_rt(NavState &amp;nav_state) override</div><div class="ttdoc">Real-time control update (called ~20–30 Hz).</div><div class="ttdef"><b>Definition</b> SerestController.cpp:626</div></div>
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<div class="ttc" id="aclasseasynav_1_1SerestController_html_a9c0e602094884b47abb95c257590f290"><div class="ttname"><a href="classeasynav_1_1SerestController.html#a9c0e602094884b47abb95c257590f290">easynav::SerestController::SerestController</a></div><div class="ttdeci">SerestController()</div><div class="ttdoc">Default constructor.</div></div>
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<div class="ttc" id="aclasseasynav_1_1SerestController_html_a9ce92be03951ffeb7464f90ba1e6e491"><div class="ttname"><a href="classeasynav_1_1SerestController.html#a9ce92be03951ffeb7464f90ba1e6e491">easynav::SerestController::~SerestController</a></div><div class="ttdeci">~SerestController() override</div><div class="ttdoc">Destructor.</div></div>
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<div class="ttc" id="aclasseasynav_1_1SerestController_html_ac9d1795b6cf8a4da7bf9b33f783db911"><div class="ttname"><a href="classeasynav_1_1SerestController.html#ac9d1795b6cf8a4da7bf9b33f783db911">easynav::SerestController::on_initialize</a></div><div class="ttdeci">void on_initialize() override</div><div class="ttdoc">Initialize parameters and internal state.</div><div class="ttdef"><b>Definition</b> SerestController.cpp:40</div></div>

‎SimpleController_8hpp_source.html‎

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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a26252a3c3888906b7df31ad32e3d584f"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a26252a3c3888906b7df31ad32e3d584f">easynav::SimpleController::last_vlin_</a></div><div class="ttdeci">double last_vlin_</div><div class="ttdoc">Previous linear velocity for acceleration limiting.</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:69</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a29cd83f16046e26d016caf82d7afe186"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a29cd83f16046e26d016caf82d7afe186">easynav::SimpleController::max_angular_speed_</a></div><div class="ttdeci">double max_angular_speed_</div><div class="ttdoc">Maximum angular speed in rad/s.</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:55</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a3f879a2628142b3a73add44219543c44"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a3f879a2628142b3a73add44219543c44">easynav::SimpleController::angular_pid_</a></div><div class="ttdeci">std::shared_ptr&lt; PIDController &gt; angular_pid_</div><div class="ttdoc">PID controller for angular velocity.</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:52</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a48acc0a1b3670025fcb15b36ee41cee9"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a48acc0a1b3670025fcb15b36ee41cee9">easynav::SimpleController::get_ref_pose</a></div><div class="ttdeci">geometry_msgs::msg::Pose get_ref_pose(const nav_msgs::msg::Path &amp;path, double look_ahead)</div><div class="ttdoc">Gets the reference pose at look-ahead distance on the path.</div><div class="ttdef"><b>Definition</b> SimpleController.cpp:184</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a48acc0a1b3670025fcb15b36ee41cee9"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a48acc0a1b3670025fcb15b36ee41cee9">easynav::SimpleController::get_ref_pose</a></div><div class="ttdeci">geometry_msgs::msg::Pose get_ref_pose(const nav_msgs::msg::Path &amp;path, double look_ahead)</div><div class="ttdoc">Gets the reference pose at look-ahead distance on the path.</div><div class="ttdef"><b>Definition</b> SimpleController.cpp:187</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a4fd0eb0d7ce323984e5ff8782300d335"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a4fd0eb0d7ce323984e5ff8782300d335">easynav::SimpleController::linear_pid_</a></div><div class="ttdeci">std::shared_ptr&lt; PIDController &gt; linear_pid_</div><div class="ttdoc">PID controller for linear velocity.</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:51</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a504b7eb7044f552a512ac3798948c81a"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a504b7eb7044f552a512ac3798948c81a">easynav::SimpleController::get_angle</a></div><div class="ttdeci">double get_angle(const geometry_msgs::msg::Point &amp;from, const geometry_msgs::msg::Point &amp;to)</div><div class="ttdoc">Computes the angle between two points.</div><div class="ttdef"><b>Definition</b> SimpleController.cpp:211</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a504b7eb7044f552a512ac3798948c81a"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a504b7eb7044f552a512ac3798948c81a">easynav::SimpleController::get_angle</a></div><div class="ttdeci">double get_angle(const geometry_msgs::msg::Point &amp;from, const geometry_msgs::msg::Point &amp;to)</div><div class="ttdoc">Computes the angle between two points.</div><div class="ttdef"><b>Definition</b> SimpleController.cpp:214</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a55a2ffc9006af627f2a4dcddd03af2d0"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a55a2ffc9006af627f2a4dcddd03af2d0">easynav::SimpleController::tolerance_dist_</a></div><div class="ttdeci">double tolerance_dist_</div><div class="ttdoc">Distance threshold to switch to orientation tracking.</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:59</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a628fb7cf63c2c7a5872e0bdccb59a75f"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a628fb7cf63c2c7a5872e0bdccb59a75f">easynav::SimpleController::~SimpleController</a></div><div class="ttdeci">~SimpleController() override</div><div class="ttdoc">Destructor.</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a6449b46aa66318f3afd1904dafa3e8e2"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a6449b46aa66318f3afd1904dafa3e8e2">easynav::SimpleController::last_vrot_</a></div><div class="ttdeci">double last_vrot_</div><div class="ttdoc">Previous angular velocity for acceleration limiting.</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:70</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a6800a2fe8b838eedb98038548ee7e915"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a6800a2fe8b838eedb98038548ee7e915">easynav::SimpleController::max_angular_acc_</a></div><div class="ttdeci">double max_angular_acc_</div><div class="ttdoc">Maximum angular acceleration in rad/s².</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:57</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a6a669b4b79161b086f674a427462ac64"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a6a669b4b79161b086f674a427462ac64">easynav::SimpleController::k_rot_</a></div><div class="ttdeci">double k_rot_</div><div class="ttdoc">Gain to reduce linear speed based on angular velocity.</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:60</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a6a9de5bbd5031ab9139b7bb4e69cfd80"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a6a9de5bbd5031ab9139b7bb4e69cfd80">easynav::SimpleController::twist_stamped_</a></div><div class="ttdeci">geometry_msgs::msg::TwistStamped twist_stamped_</div><div class="ttdoc">Current velocity command.</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:73</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a6ed380ba537bbe9a85710810db50a95c"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a6ed380ba537bbe9a85710810db50a95c">easynav::SimpleController::update_rt</a></div><div class="ttdeci">void update_rt(NavState &amp;nav_state) override</div><div class="ttdoc">Updates the controller using the given NavState.</div><div class="ttdef"><b>Definition</b> SimpleController.cpp:88</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a77281486391c130707b0f78d136c0853"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a77281486391c130707b0f78d136c0853">easynav::SimpleController::get_distance</a></div><div class="ttdeci">double get_distance(const geometry_msgs::msg::Pose &amp;a, const geometry_msgs::msg::Pose &amp;b)</div><div class="ttdoc">Computes the Euclidean distance between two poses.</div><div class="ttdef"><b>Definition</b> SimpleController.cpp:201</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a77281486391c130707b0f78d136c0853"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a77281486391c130707b0f78d136c0853">easynav::SimpleController::get_distance</a></div><div class="ttdeci">double get_distance(const geometry_msgs::msg::Pose &amp;a, const geometry_msgs::msg::Pose &amp;b)</div><div class="ttdoc">Computes the Euclidean distance between two poses.</div><div class="ttdef"><b>Definition</b> SimpleController.cpp:204</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a7a23ff82b5b82ab14b9942bb156fe03b"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a7a23ff82b5b82ab14b9942bb156fe03b">easynav::SimpleController::angular_ki_</a></div><div class="ttdeci">double angular_ki_</div><div class="ttdoc">Integral gain for angular PID.</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:66</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_a936b2b06590903d8b7d40c0c77ea1fd1"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#a936b2b06590903d8b7d40c0c77ea1fd1">easynav::SimpleController::angular_kp_</a></div><div class="ttdeci">double angular_kp_</div><div class="ttdoc">Proportional gain for angular PID.</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:65</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_aaf737907b981e04b56848b71d0305322"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#aaf737907b981e04b56848b71d0305322">easynav::SimpleController::last_update_ts_</a></div><div class="ttdeci">rclcpp::Time last_update_ts_</div><div class="ttdoc">Timestamp of the last control update.</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:72</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_aafe39db8fdd7f0300e7696422f6247f1"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#aafe39db8fdd7f0300e7696422f6247f1">easynav::SimpleController::look_ahead_dist_</a></div><div class="ttdeci">double look_ahead_dist_</div><div class="ttdoc">Distance ahead of the robot to track in meters.</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:58</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_ac5039fafdd7a8efbc8919ddae66adc83"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#ac5039fafdd7a8efbc8919ddae66adc83">easynav::SimpleController::get_diff_angle</a></div><div class="ttdeci">double get_diff_angle(const geometry_msgs::msg::Quaternion &amp;a, const geometry_msgs::msg::Quaternion &amp;b)</div><div class="ttdoc">Computes the angular difference between two quaternions (yaw).</div><div class="ttdef"><b>Definition</b> SimpleController.cpp:219</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_ac5039fafdd7a8efbc8919ddae66adc83"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#ac5039fafdd7a8efbc8919ddae66adc83">easynav::SimpleController::get_diff_angle</a></div><div class="ttdeci">double get_diff_angle(const geometry_msgs::msg::Quaternion &amp;a, const geometry_msgs::msg::Quaternion &amp;b)</div><div class="ttdoc">Computes the angular difference between two quaternions (yaw).</div><div class="ttdef"><b>Definition</b> SimpleController.cpp:222</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_ac9d1795b6cf8a4da7bf9b33f783db911"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#ac9d1795b6cf8a4da7bf9b33f783db911">easynav::SimpleController::on_initialize</a></div><div class="ttdeci">void on_initialize() override</div><div class="ttdoc">Initializes parameters and PID controllers.</div><div class="ttdef"><b>Definition</b> SimpleController.cpp:37</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_acc46555c33dca0fc2d49809438594f6e"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#acc46555c33dca0fc2d49809438594f6e">easynav::SimpleController::SimpleController</a></div><div class="ttdeci">SimpleController()</div><div class="ttdef"><b>Definition</b> SimpleController.cpp:30</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleController_html_ae07a5505626308c312ee26886c482966"><div class="ttname"><a href="classeasynav_1_1SimpleController.html#ae07a5505626308c312ee26886c482966">easynav::SimpleController::linear_kp_</a></div><div class="ttdeci">double linear_kp_</div><div class="ttdoc">Proportional gain for linear PID.</div><div class="ttdef"><b>Definition</b> SimpleController.hpp:62</div></div>

‎SimplePlanner_8hpp_source.html‎

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<div class="ttc" id="aclassPlannerMethodBase_html"><div class="ttname"><a href="classPlannerMethodBase.html">PlannerMethodBase</a></div></div>
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<div class="ttc" id="aclasseasynav_1_1SimpleMap_html"><div class="ttname"><a href="classeasynav_1_1SimpleMap.html">easynav::SimpleMap</a></div><div class="ttdoc">Simple 2D uint8_t grid using basic C++ types, with full metric conversion support.</div><div class="ttdef"><b>Definition</b> SimpleMap.hpp:38</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimplePlanner_html_a24ddfd2eba3d3d6a90d492e8d25ff0da"><div class="ttname"><a href="classeasynav_1_1SimplePlanner.html#a24ddfd2eba3d3d6a90d492e8d25ff0da">easynav::SimplePlanner::update</a></div><div class="ttdeci">void update(NavState &amp;nav_state) override</div><div class="ttdoc">Updates the planner by computing a new path.</div><div class="ttdef"><b>Definition</b> SimplePlanner.cpp:102</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimplePlanner_html_a4f0750eec3341ab23df655a729e716fa"><div class="ttname"><a href="classeasynav_1_1SimplePlanner.html#a4f0750eec3341ab23df655a729e716fa">easynav::SimplePlanner::isFreeWithClearance</a></div><div class="ttdeci">bool isFreeWithClearance(const SimpleMap &amp;map, int cx, int cy, double clearance_cells)</div><div class="ttdoc">Checks whether a map cell is free, considering a clearance area.</div><div class="ttdef"><b>Definition</b> SimplePlanner.cpp:182</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimplePlanner_html_a4f0750eec3341ab23df655a729e716fa"><div class="ttname"><a href="classeasynav_1_1SimplePlanner.html#a4f0750eec3341ab23df655a729e716fa">easynav::SimplePlanner::isFreeWithClearance</a></div><div class="ttdeci">bool isFreeWithClearance(const SimpleMap &amp;map, int cx, int cy, double clearance_cells)</div><div class="ttdoc">Checks whether a map cell is free, considering a clearance area.</div><div class="ttdef"><b>Definition</b> SimplePlanner.cpp:183</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimplePlanner_html_a6ad83f7f5a09b0babb739d6eebaa48a6"><div class="ttname"><a href="classeasynav_1_1SimplePlanner.html#a6ad83f7f5a09b0babb739d6eebaa48a6">easynav::SimplePlanner::robot_radius_</a></div><div class="ttdeci">double robot_radius_</div><div class="ttdoc">Radius of the robot used for collision checking.</div><div class="ttdef"><b>Definition</b> SimplePlanner.hpp:65</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimplePlanner_html_a7dc4f9a6c634cca808ab64f8795cd9ae"><div class="ttname"><a href="classeasynav_1_1SimplePlanner.html#a7dc4f9a6c634cca808ab64f8795cd9ae">easynav::SimplePlanner::a_star_path</a></div><div class="ttdeci">std::vector&lt; geometry_msgs::msg::Pose &gt; a_star_path(const SimpleMap &amp;map, const geometry_msgs::msg::Pose &amp;start, const geometry_msgs::msg::Pose &amp;goal, double resolution)</div><div class="ttdoc">Runs the A* algorithm to compute a path.</div><div class="ttdef"><b>Definition</b> SimplePlanner.cpp:205</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimplePlanner_html_a7dc4f9a6c634cca808ab64f8795cd9ae"><div class="ttname"><a href="classeasynav_1_1SimplePlanner.html#a7dc4f9a6c634cca808ab64f8795cd9ae">easynav::SimplePlanner::a_star_path</a></div><div class="ttdeci">std::vector&lt; geometry_msgs::msg::Pose &gt; a_star_path(const SimpleMap &amp;map, const geometry_msgs::msg::Pose &amp;start, const geometry_msgs::msg::Pose &amp;goal, double resolution)</div><div class="ttdoc">Runs the A* algorithm to compute a path.</div><div class="ttdef"><b>Definition</b> SimplePlanner.cpp:206</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimplePlanner_html_a8c77ed734722472d4c7b6e0a96625b25"><div class="ttname"><a href="classeasynav_1_1SimplePlanner.html#a8c77ed734722472d4c7b6e0a96625b25">easynav::SimplePlanner::SimplePlanner</a></div><div class="ttdeci">SimplePlanner()</div><div class="ttdoc">Default constructor.</div><div class="ttdef"><b>Definition</b> SimplePlanner.cpp:72</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimplePlanner_html_a8dc6b25f90bfb16f7f1d95b51800aa00"><div class="ttname"><a href="classeasynav_1_1SimplePlanner.html#a8dc6b25f90bfb16f7f1d95b51800aa00">easynav::SimplePlanner::current_path_</a></div><div class="ttdeci">nav_msgs::msg::Path current_path_</div><div class="ttdoc">The last computed path.</div><div class="ttdef"><b>Definition</b> SimplePlanner.hpp:68</div></div>
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<div class="ttc" id="aclasseasynav_1_1SimplePlanner_html_ac44f0fe3c3f35ae18c498ef6ecb47dd6"><div class="ttname"><a href="classeasynav_1_1SimplePlanner.html#ac44f0fe3c3f35ae18c498ef6ecb47dd6">easynav::SimplePlanner::path_pub_</a></div><div class="ttdeci">rclcpp::Publisher&lt; nav_msgs::msg::Path &gt;::SharedPtr path_pub_</div><div class="ttdoc">Publisher for the computed navigation path.</div><div class="ttdef"><b>Definition</b> SimplePlanner.hpp:71</div></div>

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