Class RotateBehavior

Defined in File rotate-behavior.hpp

Nested Relationships

Nested Types

Struct RotateBehavior::Config

Inheritance Relationships

Base Type

public create3_coverage::Behavior (Class Behavior)

Class Documentation

class RotateBehavior : public create3_coverage::Behavior 

Public Types

using TwistMsg = geometry_msgs::msg::Twist

Public Functions

RotateBehavior(Config config, rclcpp::Publisher<TwistMsg>::SharedPtr cmd_vel_publisher, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock)

~RotateBehavior() = default

virtual State execute(const Data &data) override

inline virtual int32_t get_id() const override

inline double get_rotation_amount()

struct Config

Public Members

double target_rotation = {0.785398}

double angular_vel = {0.6}

bool robot_has_reflexes = {false}

size_t max_hazard_retries = {10}

rclcpp::Duration clear_hazard_time = {rclcpp::Duration(std::chrono::seconds(2))}