Public Types | Public Member Functions | Protected Member Functions | List of all members
mbf_abstract_core::AbstractController Class Referenceabstract

#include <abstract_controller.h>

Public Types

typedef boost::shared_ptr< ::mbf_abstract_core::AbstractControllerPtr
 

Public Member Functions

virtual bool cancel ()=0
 Requests the planner to cancel, e.g. if it takes too much time. More...
 
virtual uint32_t computeVelocityCommands (const geometry_msgs::PoseStamped &pose, const geometry_msgs::TwistStamped &velocity, geometry_msgs::TwistStamped &cmd_vel, std::string &message)=0
 Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base. More...
 
virtual bool isGoalReached (double dist_tolerance, double angle_tolerance)=0
 Check if the goal pose has been achieved by the local planner. More...
 
virtual bool setPlan (const std::vector< geometry_msgs::PoseStamped > &plan)=0
 Set the plan that the local planner is following. More...
 
virtual ~AbstractController ()
 Destructor. More...
 

Protected Member Functions

 AbstractController ()
 Constructor. More...
 

Detailed Description

Definition at line 51 of file abstract_controller.h.

Member Typedef Documentation

◆ Ptr

Definition at line 55 of file abstract_controller.h.

Constructor & Destructor Documentation

◆ ~AbstractController()

virtual mbf_abstract_core::AbstractController::~AbstractController ( )
inlinevirtual

Destructor.

Definition at line 60 of file abstract_controller.h.

◆ AbstractController()

mbf_abstract_core::AbstractController::AbstractController ( )
inlineprotected

Constructor.

Definition at line 119 of file abstract_controller.h.

Member Function Documentation

◆ cancel()

virtual bool mbf_abstract_core::AbstractController::cancel ( )
pure virtual

Requests the planner to cancel, e.g. if it takes too much time.

Returns
True if a cancel has been successfully requested, false if not implemented.

◆ computeVelocityCommands()

virtual uint32_t mbf_abstract_core::AbstractController::computeVelocityCommands ( const geometry_msgs::PoseStamped &  pose,
const geometry_msgs::TwistStamped &  velocity,
geometry_msgs::TwistStamped &  cmd_vel,
std::string &  message 
)
pure virtual

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters
poseThe current pose of the robot.
velocityThe current velocity of the robot.
cmd_velWill be filled with the velocity command to be passed to the robot base.
messageOptional more detailed outcome as a string
Returns
Result code as described on ExePath action result: SUCCESS = 0 1..9 are reserved as plugin specific non-error results FAILURE = 100 Unspecified failure, only used for old, non-mfb_core based plugins CANCELED = 101 NO_VALID_CMD = 102 PAT_EXCEEDED = 103 COLLISION = 104 OSCILLATION = 105 ROBOT_STUCK = 106 MISSED_GOAL = 107 MISSED_PATH = 108 BLOCKED_PATH = 109 INVALID_PATH = 110 TF_ERROR = 111 NOT_INITIALIZED = 112 INVALID_PLUGIN = 113 INTERNAL_ERROR = 114 121..149 are reserved as plugin specific errors

◆ isGoalReached()

virtual bool mbf_abstract_core::AbstractController::isGoalReached ( double  dist_tolerance,
double  angle_tolerance 
)
pure virtual

Check if the goal pose has been achieved by the local planner.

Parameters
angle_toleranceThe angle tolerance in which the current pose will be partly accepted as reached goal
dist_toleranceThe distance tolerance in which the current pose will be partly accepted as reached goal
Returns
True if achieved, false otherwise

◆ setPlan()

virtual bool mbf_abstract_core::AbstractController::setPlan ( const std::vector< geometry_msgs::PoseStamped > &  plan)
pure virtual

Set the plan that the local planner is following.

Parameters
planThe plan to pass to the local planner
Returns
True if the plan was updated successfully, false otherwise

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


mbf_abstract_core
Author(s): Sebastian Pütz , Jorge Santos
autogenerated on Wed May 27 2020 04:03:11