go_to_point_service_m.py File Reference

go-to-point behaviour, a component of the bug0 algorithm. More...

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Namespaces
	go_to_point_service_m

Functions
def	go_to_point_service_m.go_to_point_switch (req)
def	go_to_point_service_m.clbk_odom (msg)
def	go_to_point_service_m.change_state (state)
def	go_to_point_service_m.normalize_angle (angle)
def	go_to_point_service_m.fix_yaw (des_pos)
def	go_to_point_service_m.go_straight_ahead (des_pos)
def	go_to_point_service_m.done (des_pos)
def	go_to_point_service_m.main ()

Variables
bool	go_to_point_service_m.active_ = False
	go_to_point_service_m.position_ = Point()
int	go_to_point_service_m.yaw_ = 0
int	go_to_point_service_m.state_ = 0
	go_to_point_service_m.desired_position_ = Point()
	go_to_point_service_m.x
	go_to_point_service_m.y
	go_to_point_service_m.z
int	go_to_point_service_m.yaw_precision_ = math.pi / 9
int	go_to_point_service_m.yaw_precision_2_ = math.pi / 90
float	go_to_point_service_m.dist_precision_ = 0.3
float	go_to_point_service_m.kp_a = 3.0
float	go_to_point_service_m.kp_d = 0.2
float	go_to_point_service_m.ub_a = 0.6
float	go_to_point_service_m.lb_a = -0.5
float	go_to_point_service_m.ub_d = 0.6
	go_to_point_service_m.pub = None

Detailed Description

go-to-point behaviour, a component of the bug0 algorithm.

Author

Prof. Carmine Recchiuto (first version)

Version

1.0

Copyright

Copyright (c) 2021

Definition in file go_to_point_service_m.py.