The SimpleNavigationServer provides a simple navigation server, which does not bind a map representation to Move Base Flex. It combines the execution classes which use the mbf_abstract_core/AbstractController, mbf_abstract_core/AbstractPlanner and the mbf_abstract_core/AbstractRecovery base classes as plugin interfaces. More...

#include <simple_navigation_server.h>

Inheritance diagram for mbf_simple_nav::SimpleNavigationServer:

[legend]

List of all members.

Public Member Functions
virtual bool	initializeControllerPlugin (const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr)
	Empty init method. Nothing to initialize.
virtual bool	initializePlannerPlugin (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr)
	Empty init method. Nothing to initialize.
virtual bool	initializeRecoveryPlugin (const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &behavior_ptr)
	Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!
virtual mbf_abstract_core::AbstractController::Ptr	loadControllerPlugin (const std::string &controller_type)
	Loads the plugin associated with the given controller type parameter.
virtual mbf_abstract_core::AbstractPlanner::Ptr	loadPlannerPlugin (const std::string &planner_type)
	Loads the plugin associated with the given planner_type parameter.
virtual mbf_abstract_core::AbstractRecovery::Ptr	loadRecoveryPlugin (const std::string &recovery_type)
	Loads a Recovery plugin associated with given recovery type parameter.
	SimpleNavigationServer (const TFPtr &tf_listener_ptr)
	Constructor.
virtual	~SimpleNavigationServer ()
	Destructor.
Private Attributes
pluginlib::ClassLoader < mbf_abstract_core::AbstractController >	controller_plugin_loader_
pluginlib::ClassLoader < mbf_abstract_core::AbstractPlanner >	planner_plugin_loader_
pluginlib::ClassLoader < mbf_abstract_core::AbstractRecovery >	recovery_plugin_loader_

Detailed Description

The SimpleNavigationServer provides a simple navigation server, which does not bind a map representation to Move Base Flex. It combines the execution classes which use the mbf_abstract_core/AbstractController, mbf_abstract_core/AbstractPlanner and the mbf_abstract_core/AbstractRecovery base classes as plugin interfaces.

Definition at line 63 of file simple_navigation_server.h.

Constructor & Destructor Documentation

mbf_simple_nav::SimpleNavigationServer::SimpleNavigationServer ( const TFPtr & tf_listener_ptr )

Constructor.

Parameters:

tf_listener_ptr Shared pointer to a common TransformListener

Definition at line 46 of file simple_navigation_server.cpp.

mbf_simple_nav::SimpleNavigationServer::~SimpleNavigationServer ( ) [virtual]

Destructor.

Definition at line 138 of file simple_navigation_server.cpp.

Member Function Documentation

bool mbf_simple_nav::SimpleNavigationServer::initializeControllerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractController::Ptr &	controller_ptr
	)		`[virtual]`

Empty init method. Nothing to initialize.

Parameters:

name	The name of the controller
controller_ptr	pointer to the controller object which corresponds to the name param

Returns:: true always

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 105 of file simple_navigation_server.cpp.

bool mbf_simple_nav::SimpleNavigationServer::initializePlannerPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractPlanner::Ptr &	planner_ptr
	)		`[virtual]`

Empty init method. Nothing to initialize.

Parameters:

name	The name of the planner
planner_ptr	pointer to the planner object which corresponds to the name param

Returns:: true always

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 77 of file simple_navigation_server.cpp.

bool mbf_simple_nav::SimpleNavigationServer::initializeRecoveryPlugin	(	const std::string &	name,
		const mbf_abstract_core::AbstractRecovery::Ptr &	behavior_ptr
	)		`[virtual]`

Pure virtual method, the derived class has to implement. Depending on the plugin base class, some plugins need to be initialized!

Parameters:

name	The name of the recovery behavior
behavior_ptr	pointer to the recovery behavior object which corresponds to the name param

Returns:: true always

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 130 of file simple_navigation_server.cpp.

mbf_abstract_core::AbstractController::Ptr mbf_simple_nav::SimpleNavigationServer::loadControllerPlugin ( const std::string & controller_type ) [virtual]

Loads the plugin associated with the given controller type parameter.

Parameters:

controller_type The type of the controller plugin

Returns:: A shared pointer to a new loaded controller, if the controller plugin was loaded successfully, an empty pointer otherwise.

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 86 of file simple_navigation_server.cpp.

mbf_abstract_core::AbstractPlanner::Ptr mbf_simple_nav::SimpleNavigationServer::loadPlannerPlugin ( const std::string & planner_type ) [virtual]

Loads the plugin associated with the given planner_type parameter.

Parameters:

planner_type The type of the planner plugin to load.

Returns:: true, if the local planner plugin was successfully loaded.

Implements mbf_abstract_nav::AbstractNavigationServer.

Definition at line 59 of file simple_navigation_server.cpp.

mbf_abstract_core::AbstractRecovery::Ptr mbf_simple_nav::SimpleNavigationServer::loadRecoveryPlugin ( const std::string & recovery_type ) [virtual]

Loads a Recovery plugin associated with given recovery type parameter.

Parameters:

recovery_name The name of the Recovery plugin