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Commander Class Reference

#include <command.h>

List of all members.

Public Member Functions

art_msgs::Order command (const art_msgs::NavigatorState &cur_navstate)
 Commander (int verbosity, double limit, Graph *_graph, Mission *_mission, const ZonePerimeterList &_zones)
 ~Commander ()

Private Member Functions

CmdrEvent current_event (void)
bool next_checkpoint (void)
art_msgs::Order prepare_order (art_msgs::Behavior::_value_type behavior)
bool replan_route ()
void set_checkpoint_goals (void)

Private Attributes

Blockagesblockages
ElementID current_way
CmdrFSMfsm
WayPointNode goal
WayPointNode goal2
Graphgraph
Missionmission
const art_msgs::NavigatorStatenavstate
art_msgs::Order order
int replan_num
Pathroute
float speedlimit
int verbose
ZonePerimeterList zones

Friends

class CmdrFSM

Detailed Description

Definition at line 29 of file command.h.


Constructor & Destructor Documentation

Commander::Commander ( int  verbosity,
double  limit,
Graph _graph,
Mission _mission,
const ZonePerimeterList _zones 
)

Definition at line 17 of file command.cc.

Commander::~Commander (  ) 

Definition at line 34 of file command.cc.


Member Function Documentation

art_msgs::Order Commander::command ( const art_msgs::NavigatorState _navstate  ) 

main command entry point -- called once per cycle

Parameters:
_navstate has current Navigator state
Returns:
next Navigator order, finished when behavior is DONE.

Definition at line 48 of file command.cc.

CmdrEvent Commander::current_event ( void   )  [private]
bool Commander::next_checkpoint ( void   )  [private]

Definition at line 92 of file command.cc.

art_msgs::Order Commander::prepare_order ( art_msgs::Behavior::_value_type  behavior  )  [private]

Definition at line 114 of file command.cc.

bool Commander::replan_route (  )  [private]

Definition at line 215 of file command.cc.

void Commander::set_checkpoint_goals ( void   )  [private]

Definition at line 309 of file command.cc.


Friends And Related Function Documentation

friend class CmdrFSM [friend]

Definition at line 31 of file command.h.


Member Data Documentation

Definition at line 48 of file command.h.

Definition at line 50 of file command.h.

CmdrFSM* Commander::fsm [private]

Definition at line 43 of file command.h.

Definition at line 54 of file command.h.

Definition at line 55 of file command.h.

Graph* Commander::graph [private]

Definition at line 45 of file command.h.

Definition at line 46 of file command.h.

Definition at line 51 of file command.h.

Definition at line 52 of file command.h.

int Commander::replan_num [private]

Definition at line 62 of file command.h.

Path* Commander::route [private]

Definition at line 59 of file command.h.

float Commander::speedlimit [private]

Definition at line 61 of file command.h.

int Commander::verbose [private]

Definition at line 41 of file command.h.

Definition at line 57 of file command.h.


The documentation for this class was generated from the following files:
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art_nav
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Fri Mar 1 14:13:01 2013