Inheritance diagram for SegbotLogicalNavigator:

Public Types
typedef actionlib::SimpleActionServer < bwi_msgs::LogicalNavigationAction >	LogicalNavActionServer
Public Member Functions
bool	changeFloorResolutionHandler (bwi_msgs::ResolveChangeFloor::Request &req, bwi_msgs::ResolveChangeFloor::Response &res)
void	execute (const bwi_msgs::LogicalNavigationGoalConstPtr &goal)
	SegbotLogicalNavigator ()
Protected Member Functions
bool	approachDoor (const std::string &door_name, std::vector< PlannerAtom > &observations, std::string &error_message, bool gothrough=false)
bool	approachObject (const std::string &object_name, std::vector< PlannerAtom > &observations, std::string &error_message)
bool	changeFloor (const std::string &new_room, const std::string &facing_door, std::vector< PlannerAtom > &observations, std::string &error_message)
void	costmapSubscriber (const nav_msgs::OccupancyGrid::ConstPtr &costmap)
void	costmapUpdatesSubscriber (const map_msgs::OccupancyGridUpdate::ConstPtr &costmap_updates)
void	currentLevelHandler (const multi_level_map_msgs::LevelMetaData::ConstPtr &current_level)
bool	executeNavigationGoal (const geometry_msgs::PoseStamped &pose)
void	multimapHandler (const multi_level_map_msgs::MultiLevelMapData::ConstPtr &multimap)
void	odometryHandler (const nav_msgs::Odometry::ConstPtr &odom)
void	publishNavigationMap (bool publish_map_with_doors=false, bool wait_for_costmap_change=false)
bool	resolveChangeFloorRequest (const std::string &new_room, const std::string &facing_door, std::string &floor_name, geometry_msgs::PoseWithCovarianceStamped &pose, std::string &error_message)
bool	senseDoor (const std::string &door_name, std::vector< PlannerAtom > &observations, std::string &error_message)
void	senseState (std::vector< PlannerAtom > &observations, size_t door_idx=NO_DOOR_IDX)
Protected Attributes
std::vector < multi_level_map_msgs::LevelMetaData >	all_levels_
ros::ServiceServer	change_floor_resolution_server_
ros::ServiceClient	change_level_client_
bool	change_level_client_available_
ros::Subscriber	costmap_subscriber_
ros::Subscriber	costmap_updates_subscriber_
std::string	current_level_id_
ros::Subscriber	current_level_subscriber_
double	door_proximity_distance_
boost::shared_ptr < LogicalNavActionServer >	execute_action_server_
bool	execute_action_server_started_
bool	full_global_costmap_update_
int	global_costmap_width_
bool	last_map_published_with_doors_
std::map< std::string, std::vector < bwi_planning_common::Door > >	level_to_doors_map_
std::map< std::string, std::vector< int32_t > >	level_to_loc_map_
std::map< std::string, std::vector< std::string > >	level_to_loc_names_map_
ros::Subscriber	multimap_subscriber_
ros::Publisher	navigation_map_publisher_
boost::shared_ptr < message_filters::Subscriber < nav_msgs::Odometry > >	odom_subscriber_
boost::shared_ptr < actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction > >	robot_controller_
bool	robot_controller_available_
float	robot_x_
float	robot_y_
float	robot_yaw_
boost::shared_ptr < tf::TransformListener >	tf_
boost::shared_ptr < tf::MessageFilter < nav_msgs::Odometry > >	tf_filter_

Detailed Description

Definition at line 66 of file segbot_logical_navigator.cpp.

Member Typedef Documentation

typedef actionlib::SimpleActionServer<bwi_msgs::LogicalNavigationAction> SegbotLogicalNavigator::LogicalNavActionServer

Definition at line 70 of file segbot_logical_navigator.cpp.

Constructor & Destructor Documentation

SegbotLogicalNavigator::SegbotLogicalNavigator ( )

Definition at line 155 of file segbot_logical_navigator.cpp.

Member Function Documentation

bool SegbotLogicalNavigator::approachDoor	(	const std::string &	door_name,
		std::vector< PlannerAtom > &	observations,
		std::string &	error_message,
		bool	gothrough = `false`
	)		`[protected]`

Definition at line 409 of file segbot_logical_navigator.cpp.

bool SegbotLogicalNavigator::approachObject	(	const std::string &	object_name,
		std::vector< PlannerAtom > &	observations,
		std::string &	error_message
	)		`[protected]`

Definition at line 466 of file segbot_logical_navigator.cpp.

bool SegbotLogicalNavigator::changeFloor	(	const std::string &	new_room,
		const std::string &	facing_door,
		std::vector< PlannerAtom > &	observations,
		std::string &	error_message
	)		`[protected]`

Definition at line 590 of file segbot_logical_navigator.cpp.

bool SegbotLogicalNavigator::changeFloorResolutionHandler	(	bwi_msgs::ResolveChangeFloor::Request &	req,
		bwi_msgs::ResolveChangeFloor::Response &	res
	)

Definition at line 689 of file segbot_logical_navigator.cpp.

void SegbotLogicalNavigator::costmapSubscriber ( const nav_msgs::OccupancyGrid::ConstPtr & costmap ) [protected]

Definition at line 225 of file segbot_logical_navigator.cpp.

void SegbotLogicalNavigator::costmapUpdatesSubscriber ( const map_msgs::OccupancyGridUpdate::ConstPtr & costmap_updates ) [protected]

Definition at line 229 of file segbot_logical_navigator.cpp.

void SegbotLogicalNavigator::currentLevelHandler ( const multi_level_map_msgs::LevelMetaData::ConstPtr & current_level ) [protected]

Definition at line 211 of file segbot_logical_navigator.cpp.

void SegbotLogicalNavigator::execute ( const bwi_msgs::LogicalNavigationGoalConstPtr & goal )

Definition at line 655 of file segbot_logical_navigator.cpp.

bool SegbotLogicalNavigator::executeNavigationGoal ( const geometry_msgs::PoseStamped & pose ) [protected]

Definition at line 360 of file segbot_logical_navigator.cpp.

void SegbotLogicalNavigator::multimapHandler ( const multi_level_map_msgs::MultiLevelMapData::ConstPtr & multimap ) [protected]

Definition at line 235 of file segbot_logical_navigator.cpp.

void SegbotLogicalNavigator::odometryHandler ( const nav_msgs::Odometry::ConstPtr & odom ) [protected]

Definition at line 391 of file segbot_logical_navigator.cpp.

void SegbotLogicalNavigator::publishNavigationMap	(	bool	publish_map_with_doors = `false`,
		bool	wait_for_costmap_change = `false`
	)		`[protected]`

Definition at line 259 of file segbot_logical_navigator.cpp.

bool SegbotLogicalNavigator::resolveChangeFloorRequest	(	const std::string &	new_room,
		const std::string &	facing_door,
		std::string &	floor_name,
		geometry_msgs::PoseWithCovarianceStamped &	pose,
		std::string &	error_message
	)		`[protected]`

Definition at line 510 of file segbot_logical_navigator.cpp.

bool SegbotLogicalNavigator::senseDoor	(	const std::string &	door_name,
		std::vector< PlannerAtom > &	observations,
		std::string &	error_message
	)		`[protected]`