Represents one robot in STDR. Inherts publicly from nodelet::Nodelet. More...

#include <stdr_robot.h>

Inheritance diagram for stdr_robot::Robot:

Public Member Functions
void	initializeRobot (const actionlib::SimpleClientGoalState &state, const stdr_msgs::RegisterRobotResultConstPtr result)
	Initializes the robot after on registering it to server.
void	mapCallback (const nav_msgs::OccupancyGridConstPtr &msg)
	Callback for getting the occupancy grid map.
bool	moveRobotCallback (stdr_msgs::MoveRobot::Request &req, stdr_msgs::MoveRobot::Response &res)
	The callback of the re-place robot service.
void	onInit (void)
	Initializes the robot and gets the environment occupancy grid map.
	Robot (void)
	Default constructor.
	~Robot (void)
	Default destructor.
Private Member Functions
bool	checkUnknownOccupancy (const geometry_msgs::Pose2D &newPose)
	Checks the robot's reposition into unknown area.
bool	collisionExists (const geometry_msgs::Pose2D &newPose, const geometry_msgs::Pose2D &collisionPoint)
	Checks the robot collision -2b changed-.
bool	collisionExistsNoPath (const geometry_msgs::Pose2D &newPose)
	Checks the robot collision -2b changed-.
std::vector< std::pair< int, int > >	getPointsBetween (int x1, int y1, int x2, int y2)
	Robot's previous movement direction in X Axis.
void	publishTransforms (const ros::TimerEvent &)
	Publishes the tf transforms every with 10Hz.
Private Attributes
geometry_msgs::Pose2D	_currentPose
	Holds robots previous pose.
std::vector< std::pair< float, float > >	_footprint
nav_msgs::OccupancyGrid	_map
	ROS tf transform broadcaster.
ros::Subscriber	_mapSubscriber
	< ROS subscriber for map
MotionControllerPtr	_motionControllerPtr
	Actionlib client for registering the robot.
ros::ServiceServer	_moveRobotService
	Container for robot sensors.
ros::Publisher	_odomPublisher
	Holds robots current pose.
bool	_previousMovementXAxis
	Robot's previous movement direction in Y Axis.
bool	_previousMovementYAxis
geometry_msgs::Pose2D	_previousPose
	Pointer of a motion controller.
RegisterRobotClientPtr	_registerClientPtr
	The robot footprint in points (row * 10000 + col)
SensorPtrVector	_sensors
	The occupancy grid map.
tf::TransformBroadcaster	_tfBroadcaster
	Odometry Publisher.
ros::Timer	_tfTimer
	ROS service server to move robot.

Detailed Description

Represents one robot in STDR. Inherts publicly from nodelet::Nodelet.

Definition at line 58 of file stdr_robot.h.

Constructor & Destructor Documentation

Robot::Robot ( void )

Default constructor.

Returns:: void

Definition at line 34 of file stdr_robot.cpp.

Robot::~Robot ( void )

Default destructor.

Returns:: void

< Cleanup

Definition at line 453 of file stdr_robot.cpp.

Member Function Documentation

bool Robot::checkUnknownOccupancy ( const geometry_msgs::Pose2D & newPose ) [private]

Checks the robot's reposition into unknown area.

Parameters:

newPose [const geometry_msgs::Pose2D] The pose for the robot to be moved to

Returns:: True when position is in unknown area y

Parameters:

newPose [const geometry_msgs::Pose2D] The pose for the robot to be moved to

Returns:: True when position is in unknown area

Definition at line 232 of file stdr_robot.cpp.

bool Robot::collisionExists	(	const geometry_msgs::Pose2D &	newPose,
		const geometry_msgs::Pose2D &	previousPose
	)		`[private]`

Checks the robot collision -2b changed-.

Returns:: void; True on collision

Definition at line 284 of file stdr_robot.cpp.

bool Robot::collisionExistsNoPath ( const geometry_msgs::Pose2D & newPose ) [private]

Checks the robot collision -2b changed-.

Returns:: True on collision

Definition at line 198 of file stdr_robot.cpp.

std::vector< std::pair< int, int > > Robot::getPointsBetween	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)		`[private]`

Robot's previous movement direction in X Axis.

Returns the points between two points.

Parameters:

x1	: The x coord of the first point
y1	: The y coord of the first point
x2	: The x coord of the second point
y2	: The y coord of the second point

Returns:: The points inbetween

Definition at line 259 of file stdr_robot.cpp.

void Robot::initializeRobot	(	const actionlib::SimpleClientGoalState &	state,
		const stdr_msgs::RegisterRobotResultConstPtr	result
	)

Initializes the robot after on registering it to server.

Parameters:

state	[const actionlib::SimpleClientGoalState&] State of action
result	[const stdr_msgs::RegisterRobotResultConstPtr] Action result of registering the robot

Returns:: void

Definition at line 74 of file stdr_robot.cpp.

void Robot::mapCallback ( const nav_msgs::OccupancyGridConstPtr & msg )

Callback for getting the occupancy grid map.

Parameters:

msg	[const nav_msgs::OccupancyGridConstPtr&] The occupancy grid map

Returns:: void

Definition at line 166 of file stdr_robot.cpp.

bool Robot::moveRobotCallback	(	stdr_msgs::MoveRobot::Request &	req,
		stdr_msgs::MoveRobot::Response &	res
	)

The callback of the re-place robot service.

Parameters:

req	[stdr_msgs::MoveRobot::Request&] The service request
res	[stdr_msgs::MoveRobot::Response&] The service result

Returns:: bool

Definition at line 177 of file stdr_robot.cpp.

void Robot::onInit ( void ) [virtual]

Initializes the robot and gets the environment occupancy grid map.

Returns:: void

Implements nodelet::Nodelet.

Definition at line 43 of file stdr_robot.cpp.

void Robot::publishTransforms ( const ros::TimerEvent & ) [private]

Publishes the tf transforms every with 10Hz.

Returns:: void

< Odometry

< Sensors tf

Definition at line 396 of file stdr_robot.cpp.

Member Data Documentation

geometry_msgs::Pose2D stdr_robot::Robot::_currentPose [private]

Holds robots previous pose.

Definition at line 158 of file stdr_robot.h.

std::vector<std::pair<float,float> > stdr_robot::Robot::_footprint [private]

Definition at line 168 of file stdr_robot.h.

nav_msgs::OccupancyGrid stdr_robot::Robot::_map [private]

ROS tf transform broadcaster.

Definition at line 149 of file stdr_robot.h.

ros::Subscriber stdr_robot::Robot::_mapSubscriber [private]

< ROS subscriber for map

ROS timer to publish tf transforms (10Hz)

Definition at line 137 of file stdr_robot.h.

MotionControllerPtr stdr_robot::Robot::_motionControllerPtr [private]

Actionlib client for registering the robot.

Definition at line 164 of file stdr_robot.h.

ros::ServiceServer stdr_robot::Robot::_moveRobotService [private]

Container for robot sensors.

Definition at line 143 of file stdr_robot.h.

ros::Publisher stdr_robot::Robot::_odomPublisher [private]

Holds robots current pose.

Definition at line 155 of file stdr_robot.h.

bool stdr_robot::Robot::_previousMovementXAxis [private]

Robot's previous movement direction in Y Axis.

Definition at line 176 of file stdr_robot.h.

bool stdr_robot::Robot::_previousMovementYAxis [private]

Definition at line 177 of file stdr_robot.h.

geometry_msgs::Pose2D stdr_robot::Robot::_previousPose [private]

Pointer of a motion controller.

Definition at line 161 of file stdr_robot.h.

RegisterRobotClientPtr stdr_robot::Robot::_registerClientPtr [private]

The robot footprint in points (row * 10000 + col)

Definition at line 167 of file stdr_robot.h.

SensorPtrVector stdr_robot::Robot::_sensors [private]

The occupancy grid map.

Definition at line 146 of file stdr_robot.h.

tf::TransformBroadcaster stdr_robot::Robot::_tfBroadcaster [private]

Odometry Publisher.

Definition at line 152 of file stdr_robot.h.

ros::Timer stdr_robot::Robot::_tfTimer [private]

ROS service server to move robot.

Definition at line 140 of file stdr_robot.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation