internal Namespace

Definition

namespace moveit_pro::behaviors::compute_velocity_to_align_with_target::internal { ... }

Functions Index

nav_msgs::msg::Odometry	offsetPoseAndTwist (const nav_msgs::msg::Odometry &target_motion_state, const geometry_msgs::msg::PoseStamped &target_pose_offset)
	Calculate the offset target motion_state based on the target motion_state and target pose offset. More...
tl::expected< geometry_msgs::msg::PoseStamped, std::string >	calculatePoseError (const nav_msgs::msg::Odometry &target_motion_state, const tf2_ros::Buffer &tf_buffer, const std::string &end_effector_frame)
	Calculate the pose error between the target motion_state and the current end effector frame. More...
geometry_msgs::msg::TwistStamped	calculateControlVelocity (const geometry_msgs::msg::PoseStamped &pose_error, double proportional_gain_linear, double proportional_gain_angular)
	Calculate the proportional control velocity based on the pose error. More...
tl::expected< geometry_msgs::msg::TwistStamped, std::string >	addTargetAndCatchupVelocity (const nav_msgs::msg::Odometry &target_motion_state, const tf2_ros::Buffer &tf_buffer, const std::string &end_effector_frame, const geometry_msgs::msg::TwistStamped &catchup_velocity)
	Add the target and catchup velocities in the end effector frame. More...

Functions

addTargetAndCatchupVelocity()

tl::expected< geometry_msgs::msg::TwistStamped, std::string > moveit_pro::behaviors::compute_velocity_to_align_with_target::internal::addTargetAndCatchupVelocity (const nav_msgs::msg::Odometry & target_motion_state, const tf2_ros::Buffer & tf_buffer, const std::string & end_effector_frame, const geometry_msgs::msg::TwistStamped & catchup_velocity)

Add the target and catchup velocities in the end effector frame.

Parameters

target_motion_state	The target motion state.
tf_buffer	The TF2 buffer for looking up transforms.
end_effector_frame	The name of the end effector frame.
catchup_velocity	The catchup velocity in the end effector frame.

Returns

A tl::expected containing the calculated velocity or an error message.

Definition at line 249 of file compute_velocity_to_align_with_target.cpp.

calculateControlVelocity()

geometry_msgs::msg::TwistStamped moveit_pro::behaviors::compute_velocity_to_align_with_target::internal::calculateControlVelocity (const geometry_msgs::msg::PoseStamped & pose_error, double proportional_gain_linear, double proportional_gain_angular)

Calculate the proportional control velocity based on the pose error.

Parameters

pose_error	The pose error.
proportional_gain_linear	The proportional gain for the linear component.
proportional_gain_angular	The proportional gain for the angular component.

Returns

The calculated control velocity.

Definition at line 226 of file compute_velocity_to_align_with_target.cpp.

calculatePoseError()

tl::expected< geometry_msgs::msg::PoseStamped, std::string > moveit_pro::behaviors::compute_velocity_to_align_with_target::internal::calculatePoseError (const nav_msgs::msg::Odometry & target_motion_state, const tf2_ros::Buffer & tf_buffer, const std::string & end_effector_frame)

Calculate the pose error between the target motion_state and the current end effector frame.

Parameters

target_motion_state	The target motion_state.
tf_buffer	The TF2 buffer for looking up transforms.
end_effector_frame	The name of the end effector frame.

Returns

A tl::expected containing the calculated pose error or an error message.

Definition at line 199 of file compute_velocity_to_align_with_target.cpp.

offsetPoseAndTwist()

nav_msgs::msg::Odometry moveit_pro::behaviors::compute_velocity_to_align_with_target::internal::offsetPoseAndTwist (const nav_msgs::msg::Odometry & target_motion_state, const geometry_msgs::msg::PoseStamped & target_pose_offset)

Calculate the offset target motion_state based on the target motion_state and target pose offset.

Parameters

target_motion_state	The target motion_state.
target_pose_offset	The target pose offset.

Returns

The calculated offset target motion_state.

Definition at line 165 of file compute_velocity_to_align_with_target.cpp.

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The documentation for this namespace was generated from the following file:

• compute_velocity_to_align_with_target.cpp

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