Public Member Functions | Public Attributes
labust::mission::MissionExecution Class Reference

#include <missionExecution.hpp>

List of all members.

Public Member Functions

void course_keeping_FA_state ()
void course_keeping_UA_state ()
void dynamic_postitioning_state ()
void evaluatePrimitive (string primitiveString)
void execute_primitive ()
void go2point_FA_hdg_state ()
void go2point_FA_state ()
void go2point_UA_state ()
void iso_state ()
 MissionExecution (ros::NodeHandle &nh)
void onDataEventsContainer (const misc_msgs::DataEventsContainer::ConstPtr &data)
void onEventString (const std_msgs::String::ConstPtr &msg)
void onPrimitiveEndReset ()
void onReceivePrimitive (const misc_msgs::SendPrimitive::ConstPtr &data)
void onStateHat (const auv_msgs::NavSts::ConstPtr &data)
void onTimeout (const ros::TimerEvent &timer)
void path_following_state ()
void pointer_state ()
void requestPrimitive ()
void setTimeout (double timeout)

Public Attributes

bool checkEventFlag
labust::controller::PrimitiveManager CM
vector< string > eventsActive
bool missionActive
int nextPrimitive
ros::NodeHandle nh_
auv_msgs::NED oldPosition
map< string, double > primitiveMap
vector< string > primitiveStrContainer
map< string, string > primitiveStringMap
ros::Publisher pubEventString
ros::Publisher pubRequestPrimitive
misc_msgs::SendPrimitive receivedPrimitive
ros::ServiceClient srvExprEval
auv_msgs::NavSts state
ros::Subscriber subDataEventsContainer
ros::Subscriber subEventString
ros::Subscriber subReceivePrimitive
ros::Subscriber subStateHat
bool timeoutActive
ros::Timer timer

Detailed Description

Definition at line 71 of file missionExecution.hpp.


Constructor & Destructor Documentation

Subscribers

Publishers

Services

Define primitive parameters

TODO Automate primitive map creation.

Definition at line 187 of file missionExecution.hpp.


Member Function Documentation

Activate primitive timeout

Definition at line 325 of file missionExecution.hpp.

Activate primitive timeout

Definition at line 334 of file missionExecution.hpp.

Evaluate primitive data with current values

Activate primitive timeout

Activate primitive

Definition at line 265 of file missionExecution.hpp.

void labust::mission::MissionExecution::evaluatePrimitive ( string  primitiveString)

Debug

Definition at line 230 of file missionExecution.hpp.

Definition at line 260 of file missionExecution.hpp.

Evaluate primitive data with current values

Activate primitive timeout

Activate primitive

Definition at line 280 of file missionExecution.hpp.

Evaluate primitive data with current values

Activate primitive timeout

Activate primitive

Definition at line 297 of file missionExecution.hpp.

Activate primitive timeout

Definition at line 314 of file missionExecution.hpp.

void labust::mission::MissionExecution::onDataEventsContainer ( const misc_msgs::DataEventsContainer::ConstPtr &  data)

DataEventsContainer callback

If primitive has active events

Reset flag and counters

For each primitive event check if it is true

First true event has priority

Definition at line 381 of file missionExecution.hpp.

void labust::mission::MissionExecution::onEventString ( const std_msgs::String::ConstPtr &  msg)

EventString topic callback

Definition at line 447 of file missionExecution.hpp.

Reset timers and flags

Stop timeout timer

Reset execution flags

Definition at line 491 of file missionExecution.hpp.

void labust::mission::MissionExecution::onReceivePrimitive ( const misc_msgs::SendPrimitive::ConstPtr &  data)

ReceivePrimitive topic callback

Check if received primitive has active events

Call primitive

Definition at line 410 of file missionExecution.hpp.

void labust::mission::MissionExecution::onStateHat ( const auv_msgs::NavSts::ConstPtr &  data)

Definition at line 437 of file missionExecution.hpp.

On timeout finish primitive execution

Definition at line 483 of file missionExecution.hpp.

Request new primitive

Definition at line 465 of file missionExecution.hpp.

Set primitive timeout

Definition at line 473 of file missionExecution.hpp.


Member Data Documentation

Execution flags

Definition at line 174 of file missionExecution.hpp.

Controller manager class

Definition at line 138 of file missionExecution.hpp.

Vectors

Definition at line 165 of file missionExecution.hpp.

Mission state flag

Definition at line 180 of file missionExecution.hpp.

Next primitive to request

Definition at line 177 of file missionExecution.hpp.

ROS Node handle

Definition at line 141 of file missionExecution.hpp.

Remember last primitive end point

Definition at line 159 of file missionExecution.hpp.

Map for storing last primitive floating point data

Definition at line 168 of file missionExecution.hpp.

Definition at line 165 of file missionExecution.hpp.

Map for storing last primitive string data

Definition at line 171 of file missionExecution.hpp.

Definition at line 147 of file missionExecution.hpp.

Publishers

Definition at line 147 of file missionExecution.hpp.

Store last received primitive

Definition at line 162 of file missionExecution.hpp.

Services

Definition at line 153 of file missionExecution.hpp.

stateHat container

Definition at line 156 of file missionExecution.hpp.

Subscribers

Definition at line 150 of file missionExecution.hpp.

Definition at line 150 of file missionExecution.hpp.

Definition at line 150 of file missionExecution.hpp.

Definition at line 150 of file missionExecution.hpp.

Definition at line 174 of file missionExecution.hpp.

Timers

Definition at line 144 of file missionExecution.hpp.


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


labust_mission
Author(s): Filip Mandic
autogenerated on Fri Aug 28 2015 11:23:06