mbf_abstract_nav::ControllerAction Class Reference

#include <controller_action.h>

Inheritance diagram for mbf_abstract_nav::ControllerAction:

Public Types
typedef boost::shared_ptr< ControllerAction >	Ptr

Public Member Functions
	ControllerAction (const std::string &name, const mbf_utility::RobotInformation &robot_info)
void	runImpl (GoalHandle &goal_handle, AbstractControllerExecution &execution)
void	start (GoalHandle &goal_handle, typename AbstractControllerExecution::Ptr execution_ptr)
	Start controller action. Override abstract action version to allow updating current plan without stopping execution. More...

Protected Member Functions
void	fillExePathResult (uint32_t outcome, const std::string &message, mbf_msgs::ExePathResult &result)
	Utility method to fill the ExePath action result in a single line. More...
void	publishExePathFeedback (GoalHandle &goal_handle, uint32_t outcome, const std::string &message, const geometry_msgs::TwistStamped &current_twist)

Protected Attributes
boost::mutex	goal_mtx_
	lock goal handle for updating it while running More...
geometry_msgs::PoseStamped	goal_pose_
	Current goal pose. More...
geometry_msgs::PoseStamped	robot_pose_
	Current robot pose. More...

Detailed Description

Definition at line 55 of file controller_action.h.

Member Typedef Documentation

Ptr

typedef boost::shared_ptr<ControllerAction> mbf_abstract_nav::ControllerAction::Ptr

Definition at line 60 of file controller_action.h.

Constructor & Destructor Documentation

ControllerAction()

mbf_abstract_nav::ControllerAction::ControllerAction	(	const std::string &	name,
		const mbf_utility::RobotInformation &	robot_info
	)

Definition at line 46 of file controller_action.cpp.

Member Function Documentation

fillExePathResult()

void mbf_abstract_nav::ControllerAction::fillExePathResult ( uint32_t  outcome, const std::string &  message, mbf_msgs::ExePathResult &  result  )

protected

Utility method to fill the ExePath action result in a single line.

Parameters

outcome	ExePath action outcome
message	ExePath action message
result	The action result to fill

Definition at line 363 of file controller_action.cpp.

publishExePathFeedback()

void mbf_abstract_nav::ControllerAction::publishExePathFeedback ( GoalHandle &  goal_handle, uint32_t  outcome, const std::string &  message, const geometry_msgs::TwistStamped &  current_twist  )

protected

Definition at line 344 of file controller_action.cpp.

runImpl()

void mbf_abstract_nav::ControllerAction::runImpl	(	GoalHandle &	goal_handle,
		AbstractControllerExecution &	execution
	)

Definition at line 101 of file controller_action.cpp.

start()

void mbf_abstract_nav::ControllerAction::start	(	GoalHandle &	goal_handle,
		typename AbstractControllerExecution::Ptr	execution_ptr
	)

Start controller action. Override abstract action version to allow updating current plan without stopping execution.

Parameters

goal_handle	Reference to the goal handle received on action execution callback.
execution_ptr	Pointer to the execution descriptor.

Definition at line 53 of file controller_action.cpp.

Member Data Documentation

goal_mtx_

boost::mutex mbf_abstract_nav::ControllerAction::goal_mtx_

protected

lock goal handle for updating it while running

Definition at line 94 of file controller_action.h.

goal_pose_

geometry_msgs::PoseStamped mbf_abstract_nav::ControllerAction::goal_pose_

protected

Current goal pose.

Definition at line 96 of file controller_action.h.

robot_pose_

geometry_msgs::PoseStamped mbf_abstract_nav::ControllerAction::robot_pose_

protected

Current robot pose.

Definition at line 95 of file controller_action.h.

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

• controller_action.h
• controller_action.cpp