Wandering.cpp File Reference

#include <iostream>
#include <boost/bind.hpp>
#include <boost/thread.hpp>
#include <boost/foreach.hpp>
#include <ros/ros.h>
#include <random_numbers/random_numbers.h>
#include <sensor_msgs/LaserScan.h>
#include <geometry_msgs/Twist.h>
#include <decision_making/FSM.h>
#include <decision_making/ROSTask.h>
#include <decision_making/DecisionMaking.h>

Include dependency graph for Wandering.cpp:

Go to the source code of this file.

Defines
#define	foreach   BOOST_FOREACH
Functions
decision_making::TaskResult	driveTask (string name, const FSMCallContext &context, EventQueue &eventQueue)
	FSM (Wandering)
int	main (int argc, char **argv)
void	onLaserScanMessage (const sensor_msgs::LaserScan::Ptr laserScanMessage, RosEventQueue *eventQueue)
decision_making::TaskResult	pauseTask (string name, const FSMCallContext &context, EventQueue &eventQueue)
decision_making::TaskResult	turnTask (string name, const FSMCallContext &context, EventQueue &eventQueue)
Variables
random_numbers::RandomNumberGenerator	_randomizer
ros::Publisher	_velocityPublisher

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Define Documentation

#define foreach   BOOST_FOREACH

Definition at line 47 of file Wandering.cpp.

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Function Documentation

decision_making::TaskResult driveTask	(	string	name,
		const FSMCallContext &	context,
		EventQueue &	eventQueue
	)

Preemptive wait

Definition at line 122 of file Wandering.cpp.

FSM

(

Wandering

)

Definition at line 60 of file Wandering.cpp.

int main	(	int	argc,
		char **	argv
	)

Initialization

Tasks registration

Subscription for the laser topic and velocity publisher creation

ROS Spinner for topic subscriptions

Execution of the FSM

Cleanup

Definition at line 176 of file Wandering.cpp.

void onLaserScanMessage	(	const sensor_msgs::LaserScan::Ptr	laserScanMessage,
		RosEventQueue *	eventQueue
	)

Definition at line 109 of file Wandering.cpp.

decision_making::TaskResult pauseTask	(	string	name,
		const FSMCallContext &	context,
		EventQueue &	eventQueue
	)

Definition at line 163 of file Wandering.cpp.

decision_making::TaskResult turnTask	(	string	name,
		const FSMCallContext &	context,
		EventQueue &	eventQueue
	)

Definition at line 147 of file Wandering.cpp.

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Variable Documentation

random_numbers::RandomNumberGenerator _randomizer

Definition at line 53 of file Wandering.cpp.

ros::Publisher _velocityPublisher

Definition at line 54 of file Wandering.cpp.