Class SpiralBehavior

Defined in File spiral-behavior.hpp

Nested Relationships

Nested Types

Struct SpiralBehavior::Config

Inheritance Relationships

Base Type

public create3_coverage::Behavior (Class Behavior)

Class Documentation

class SpiralBehavior : public create3_coverage::Behavior 

Public Types

using OpCodeMsg = irobot_create_msgs::msg::IrOpcode

using TwistMsg = geometry_msgs::msg::Twist

Public Functions

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

~SpiralBehavior() = default

virtual State execute(const Data &data) override

inline virtual int32_t get_id() const override

struct Config

Public Members

rclcpp::Duration spiral_duration = {rclcpp::Duration(std::chrono::seconds(30))}

double linear_vel = {0.4}

double initial_radius = {0.25}

double radius_increment = {0.25}

rclcpp::Duration radius_increment_interval = {rclcpp::Duration(std::chrono::seconds(5))}