GridSpiralAlgorithm.MoveToPoints Class Reference

Inheritance diagram for GridSpiralAlgorithm.MoveToPoints:

Public Member Functions
	__init__ (self, list[PoseStamped] waypoints)
	rotate (self)
	Rotate 90 degrees with this fuction.
	move_forward (self)
	Function that makes the roomba move foward.
	move_spiral_pattern (self)
	This function combines rotate() and move_foward() to create the spiral pattern.
	hazard_callback (self, HazardDetectionVector hazards)
	Callback function used to indicate when its time to move to the next point after hitting an obstacle.
	move_to_waypoint (self, PoseStamped waypoint)
	Function that tells to roomba to move to a point on the map.

Public Attributes
	nav
	waypoints
	count
	publisher
	speed_forward
	desire_distance
	check_rotation
	state
	next_publish_duration
	callback
	tcallback
	scallback
	timer
	hazard_detected
	hazard_subscriber_
	hazard_callback
	start_time

Constructor & Destructor Documentation

__init__()

GridSpiralAlgorithm.MoveToPoints.__init__	(		self,
		list[PoseStamped]	waypoints )

Member Function Documentation

hazard_callback()

GridSpiralAlgorithm.MoveToPoints.hazard_callback	(		self,
		HazardDetectionVector	hazards )

Callback function used to indicate when its time to move to the next point after hitting an obstacle.

This function continuously spirals until an obstacle has been hit using the function is_front_hazard_active. Once it hits an obstacle has been hit it stops the spiral entriely then takes the first waypoint from waypoints and moves to that location. After it reaches said location it will reset the values used to calculate create the grid spiral and starts spiral from 0. This process is repeated over and over untill all the waypoints have been met stopping the roomba.

Parameters

HazardDectectionVector

This helps us generate a boolean value to stop or start the spiral

See also

is_front_hazard_active(hazard) self.move_to_waypoints(PoseStamped)

Returns

This function returns nothing

move_forward()

GridSpiralAlgorithm.MoveToPoints.move_forward

(

self

)

Function that makes the roomba move foward.

This function keeps track of the distance the roomba has to cover to allow the spiral to correctly increase in size

Returns

This function returns nothing it just publishes the correct distance the roomba must travel to 'cmd_vel'

move_spiral_pattern()

GridSpiralAlgorithm.MoveToPoints.move_spiral_pattern

(

self

)

This function combines rotate() and move_foward() to create the spiral pattern.

This function first uses move_foward to tell the roomba to move the initial distance of 0.4m becasue that is the width of the roomba. Once the roomba has reached its publish distance it then changes states from moving to rotating and waits 8 seconds before moving on to the next command so it can properly rotate 90 degrees. It then changes back to move foward and repeates this process. After it has repeated this process twice it will incriment the distance by 0.4m and continue this pattern moving in a grid spiral.

See also

move_forward() and rotate()

Returns

This function returns nothing

move_to_waypoint()

GridSpiralAlgorithm.MoveToPoints.move_to_waypoint	(		self,
		PoseStamped	waypoint )

Function that tells to roomba to move to a point on the map.

using a pregenerated passed in point the roomba moves to the location of the point on a map

Parameters

waypoint

an object of class PoseStamped that contains the coordinates of a point

Returns

This function returns nothing

rotate()

GridSpiralAlgorithm.MoveToPoints.rotate

(

self

)

Rotate 90 degrees with this fuction.

Roates slowly multiple times until an angle of 90 degrees have been reached

Returns

This function does not return anything just publishes to the topic 'cmd_vel'

Member Data Documentation

callback

GridSpiralAlgorithm.MoveToPoints.callback

check_rotation

GridSpiralAlgorithm.MoveToPoints.check_rotation

count

GridSpiralAlgorithm.MoveToPoints.count

desire_distance

GridSpiralAlgorithm.MoveToPoints.desire_distance

hazard_callback

GridSpiralAlgorithm.MoveToPoints.hazard_callback

hazard_detected

GridSpiralAlgorithm.MoveToPoints.hazard_detected

hazard_subscriber_

GridSpiralAlgorithm.MoveToPoints.hazard_subscriber_

nav

GridSpiralAlgorithm.MoveToPoints.nav

next_publish_duration

GridSpiralAlgorithm.MoveToPoints.next_publish_duration

publisher

GridSpiralAlgorithm.MoveToPoints.publisher

scallback

GridSpiralAlgorithm.MoveToPoints.scallback

speed_forward

GridSpiralAlgorithm.MoveToPoints.speed_forward

start_time

GridSpiralAlgorithm.MoveToPoints.start_time

state

GridSpiralAlgorithm.MoveToPoints.state

tcallback

GridSpiralAlgorithm.MoveToPoints.tcallback

timer

GridSpiralAlgorithm.MoveToPoints.timer

waypoints

GridSpiralAlgorithm.MoveToPoints.waypoints

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

• GridSpiralAlgorithm.py