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 fsm/Wandering.cpp:

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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 fsm/Wandering.cpp.

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Function Documentation

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

Preemptive wait

Definition at line 123 of file fsm/Wandering.cpp.

FSM

(

Wandering

)

Definition at line 60 of file fsm/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 177 of file fsm/Wandering.cpp.

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

Definition at line 110 of file fsm/Wandering.cpp.

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

Definition at line 164 of file fsm/Wandering.cpp.

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

Definition at line 148 of file fsm/Wandering.cpp.

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Variable Documentation

random_numbers::RandomNumberGenerator _randomizer

Definition at line 53 of file fsm/Wandering.cpp.

ros::Publisher _velocityPublisher

Definition at line 54 of file fsm/Wandering.cpp.