#include <semantic_navigator.hpp>

Public Member Functions
bool	init ()
void	loginfo (const std::string &msg)
void	logwarn (const std::string &msg)
	SemanticNavigator (ros::NodeHandle &n)
	SemanticNavigator (ros::NodeHandle &n, const std::string &as_navigator_topic, const std::string &sub_waypointlist_topic)
void	spin ()
virtual	~SemanticNavigator ()
Protected Member Functions
bool	cancelMoveBaseGoal ()
bool	clearCostmaps ()
void	determineNavigationState (int &navi_result, const int move_base_result, const actionlib::SimpleClientGoalState move_base_state)
void	feedbackNavigation (const int status, const double distance, const double remain_time, const std::string message)
bool	getGoalLocation (const std::string location, yocs_msgs::Waypoint &waypoint)
void	goNear (const yocs_msgs::Waypoint waypoint, const double in_distance, const int num_retry, const double timeout)
void	goOn (const yocs_msgs::Waypoint waypoint, const double in_distance, const int num_retry, const double timeout)
void	nextState (bool &retry, bool &final_result, std::string &message, const int navi_result, const ros::Time started_time)
void	processMoveBaseFeedback (const move_base_msgs::MoveBaseFeedback::ConstPtr &feedback, const geometry_msgs::PoseStamped &target)
void	processNavigateToGoal ()
void	processNavigation (yocs_msgs::NavigateToGoal::ConstPtr goal)
void	processPreemptNavigateTo ()
void	processWaypointList (const yocs_msgs::WaypointList::ConstPtr &msg)
void	terminateNavigation (bool success, const std::string message)
void	waitForMoveBase (int &move_base_result, const ros::Time &start_time, const double timeout)
Private Attributes
actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	ac_move_base_
actionlib::SimpleActionServer < yocs_msgs::NavigateToAction >	as_navi_
BasicMoveController	basic_move_
double	distance_to_goal_
std::string	global_frame_
bool	navigation_in_progress_
ros::NodeHandle	nh_
boost::thread	order_process_thread_
ros::Subscriber	sub_waypointlist_
std::string	sub_waypointlist_topic_
bool	waypoint_received_
yocs_msgs::WaypointList	waypointlist_
Static Private Attributes
static const int	NAVI_FAILED = 17
static const int	NAVI_IN_PROGRESS = 14
static const int	NAVI_RETRY = 16
static const int	NAVI_SUCCESS = 15
static const int	NAVI_TIMEOUT = 18
static const int	NAVI_UNKNOWN = 19

Detailed Description

Definition at line 24 of file semantic_navigator.hpp.

Constructor & Destructor Documentation

yocs_navigator::SemanticNavigator::SemanticNavigator ( ros::NodeHandle & n )

Definition at line 10 of file semantic_navigator.cpp.

yocs_navigator::SemanticNavigator::SemanticNavigator	(	ros::NodeHandle &	n,
		const std::string &	as_navigator_topic,
		const std::string &	sub_waypointlist_topic
	)

Definition at line 18 of file semantic_navigator.cpp.

yocs_navigator::SemanticNavigator::~SemanticNavigator ( ) [virtual]

Definition at line 26 of file semantic_navigator.cpp.

Member Function Documentation

bool yocs_navigator::SemanticNavigator::cancelMoveBaseGoal ( ) [protected]

Definition at line 50 of file utils.cpp.

bool yocs_navigator::SemanticNavigator::clearCostmaps ( ) [protected]

Definition at line 64 of file utils.cpp.

void yocs_navigator::SemanticNavigator::determineNavigationState	(	int &	navi_result,
		const int	move_base_result,
		const actionlib::SimpleClientGoalState	move_base_state
	)		`[protected]`

Definition at line 84 of file utils.cpp.

void yocs_navigator::SemanticNavigator::feedbackNavigation	(	const int	status,
		const double	distance,
		const double	remain_time,
		const std::string	message
	)		`[protected]`

Definition at line 38 of file utils.cpp.

bool yocs_navigator::SemanticNavigator::getGoalLocation	(	const std::string	location,
		yocs_msgs::Waypoint &	waypoint
	)		`[protected]`

Definition at line 9 of file utils.cpp.

void yocs_navigator::SemanticNavigator::goNear	(	const yocs_msgs::Waypoint	waypoint,
		const double	in_distance,
		const int	num_retry,
		const double	timeout
	)		`[protected]`

Definition at line 104 of file navigation_handler.cpp.

void yocs_navigator::SemanticNavigator::goOn	(	const yocs_msgs::Waypoint	waypoint,
		const double	in_distance,
		const int	num_retry,
		const double	timeout
	)		`[protected]`

Definition at line 52 of file navigation_handler.cpp.

bool yocs_navigator::SemanticNavigator::init ( )

Definition at line 30 of file semantic_navigator.cpp.

void yocs_navigator::SemanticNavigator::loginfo ( const std::string & msg )

Definition at line 202 of file utils.cpp.

void yocs_navigator::SemanticNavigator::logwarn ( const std::string & msg )

Definition at line 207 of file utils.cpp.

void yocs_navigator::SemanticNavigator::nextState	(	bool &	retry,
		bool &	final_result,
		std::string &	message,
		const int	navi_result,
		const ros::Time	started_time
	)		`[protected]`

Definition at line 132 of file utils.cpp.

void yocs_navigator::SemanticNavigator::processMoveBaseFeedback	(	const move_base_msgs::MoveBaseFeedback::ConstPtr &	feedback,
		const geometry_msgs::PoseStamped &	target
	)		`[protected]`

Definition at line 147 of file navigation_handler.cpp.

void yocs_navigator::SemanticNavigator::processNavigateToGoal ( ) [protected]

Definition at line 64 of file semantic_navigator.cpp.

void yocs_navigator::SemanticNavigator::processNavigation ( yocs_msgs::NavigateToGoal::ConstPtr goal ) [protected]

Definition at line 10 of file navigation_handler.cpp.

void yocs_navigator::SemanticNavigator::processPreemptNavigateTo ( ) [protected]

Definition at line 77 of file semantic_navigator.cpp.

void yocs_navigator::SemanticNavigator::processWaypointList ( const yocs_msgs::WaypointList::ConstPtr & msg ) [protected]

Definition at line 58 of file semantic_navigator.cpp.

void yocs_navigator::SemanticNavigator::spin ( )

Definition at line 83 of file semantic_navigator.cpp.

void yocs_navigator::SemanticNavigator::terminateNavigation	(	bool	success,
		const std::string	message
	)		`[protected]`

Definition at line 24 of file utils.cpp.

void yocs_navigator::SemanticNavigator::waitForMoveBase	(	int &	move_base_result,
		const ros::Time &	start_time,
		const double	timeout
	)		`[protected]`

Definition at line 175 of file utils.cpp.

Member Data Documentation

actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> yocs_navigator::SemanticNavigator::ac_move_base_ [private]

Definition at line 64 of file semantic_navigator.hpp.

actionlib::SimpleActionServer<yocs_msgs::NavigateToAction> yocs_navigator::SemanticNavigator::as_navi_ [private]

Definition at line 63 of file semantic_navigator.hpp.

BasicMoveController yocs_navigator::SemanticNavigator::basic_move_ [private]

Definition at line 61 of file semantic_navigator.hpp.

double yocs_navigator::SemanticNavigator::distance_to_goal_ [private]

Definition at line 70 of file semantic_navigator.hpp.

std::string yocs_navigator::SemanticNavigator::global_frame_ [private]

Definition at line 67 of file semantic_navigator.hpp.

const int yocs_navigator::SemanticNavigator::NAVI_FAILED = 17 [static, private]

Definition at line 78 of file semantic_navigator.hpp.

const int yocs_navigator::SemanticNavigator::NAVI_IN_PROGRESS = 14 [static, private]

Definition at line 75 of file semantic_navigator.hpp.

const int yocs_navigator::SemanticNavigator::NAVI_RETRY = 16 [static, private]

Definition at line 77 of file semantic_navigator.hpp.

const int yocs_navigator::SemanticNavigator::NAVI_SUCCESS = 15 [static, private]

Definition at line 76 of file semantic_navigator.hpp.

const int yocs_navigator::SemanticNavigator::NAVI_TIMEOUT = 18 [static, private]

Definition at line 79 of file semantic_navigator.hpp.

const int yocs_navigator::SemanticNavigator::NAVI_UNKNOWN = 19 [static, private]

Definition at line 80 of file semantic_navigator.hpp.

bool yocs_navigator::SemanticNavigator::navigation_in_progress_ [private]

Definition at line 72 of file semantic_navigator.hpp.

ros::NodeHandle yocs_navigator::SemanticNavigator::nh_ [private]

Definition at line 59 of file semantic_navigator.hpp.

boost::thread yocs_navigator::SemanticNavigator::order_process_thread_ [private]

Definition at line 73 of file semantic_navigator.hpp.

ros::Subscriber yocs_navigator::SemanticNavigator::sub_waypointlist_ [private]

Definition at line 62 of file semantic_navigator.hpp.

std::string yocs_navigator::SemanticNavigator::sub_waypointlist_topic_ [private]

Definition at line 66 of file semantic_navigator.hpp.

bool yocs_navigator::SemanticNavigator::waypoint_received_ [private]

Definition at line 71 of file semantic_navigator.hpp.

yocs_msgs::WaypointList yocs_navigator::SemanticNavigator::waypointlist_ [private]

Definition at line 69 of file semantic_navigator.hpp.

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

Public Member Functions

Protected Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation