mbf_abstract_nav::ControllerAction Class Reference

#include <controller_action.h>

Inheritance diagram for mbf_abstract_nav::ControllerAction:

List of all members.

Public Types
typedef boost::shared_ptr < ControllerAction >	Ptr
Public Member Functions
	ControllerAction (const std::string &name, const RobotInformation &robot_info)
void	run (GoalHandle &goal_handle, AbstractControllerExecution &execution)
void	start (GoalHandle &goal_handle, typename AbstractControllerExecution::Ptr execution_ptr)
	Start controller action. Override abstract action version to allow updating current plan without stopping execution.
Protected Member Functions
void	fillExePathResult (uint32_t outcome, const std::string &message, mbf_msgs::ExePathResult &result)
	Utility method to fill the ExePath action result in a single line.
void	publishExePathFeedback (GoalHandle &goal_handle, uint32_t outcome, const std::string &message, const geometry_msgs::TwistStamped &current_twist)
Protected Attributes
boost::mutex	goal_mtx_
	lock goal handle for updating it while running
geometry_msgs::PoseStamped	goal_pose_
	Current goal pose.
geometry_msgs::PoseStamped	robot_pose_
	Current robot pose.

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Detailed Description

Definition at line 52 of file controller_action.h.

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Member Typedef Documentation

typedef boost::shared_ptr<ControllerAction> mbf_abstract_nav::ControllerAction::Ptr

Reimplemented from mbf_abstract_nav::AbstractAction< mbf_msgs::ExePathAction, AbstractControllerExecution >.

Definition at line 57 of file controller_action.h.

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Constructor & Destructor Documentation

mbf_abstract_nav::ControllerAction::ControllerAction	(	const std::string &	name,
		const RobotInformation &	robot_info
	)

Definition at line 46 of file controller_action.cpp.

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Member Function Documentation

void mbf_abstract_nav::ControllerAction::fillExePathResult	(	uint32_t	outcome,
		const std::string &	message,
		mbf_msgs::ExePathResult &	result
	)		[protected]

Utility method to fill the ExePath action result in a single line.

Parameters:

outcome	ExePath action outcome
message	ExePath action message
result	The action result to fill

Definition at line 345 of file controller_action.cpp.

void mbf_abstract_nav::ControllerAction::publishExePathFeedback	(	GoalHandle &	goal_handle,
		uint32_t	outcome,
		const std::string &	message,
		const geometry_msgs::TwistStamped &	current_twist
	)		[protected]

Definition at line 326 of file controller_action.cpp.

void mbf_abstract_nav::ControllerAction::run	(	GoalHandle &	goal_handle,
		AbstractControllerExecution &	execution
	)

Definition at line 95 of file controller_action.cpp.

void mbf_abstract_nav::ControllerAction::start	(	GoalHandle &	goal_handle,
		typename AbstractControllerExecution::Ptr	execution_ptr
	)		[virtual]

Start controller action. Override abstract action version to allow updating current plan without stopping execution.

Parameters:

goal_handle	Reference to the goal handle received on action execution callback.
execution_ptr	Pointer to the execution descriptor.

Reimplemented from mbf_abstract_nav::AbstractAction< mbf_msgs::ExePathAction, AbstractControllerExecution >.

Definition at line 53 of file controller_action.cpp.

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Member Data Documentation

boost::mutex mbf_abstract_nav::ControllerAction::goal_mtx_ [protected]

lock goal handle for updating it while running

Definition at line 91 of file controller_action.h.

geometry_msgs::PoseStamped mbf_abstract_nav::ControllerAction::goal_pose_ [protected]

Current goal pose.

Definition at line 93 of file controller_action.h.

geometry_msgs::PoseStamped mbf_abstract_nav::ControllerAction::robot_pose_ [protected]

Current robot pose.

Definition at line 92 of file controller_action.h.

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

• controller_action.h
• controller_action.cpp