Class SpiralToEngageWall

Defined in File wall_follow_states.hpp

Inheritance Relationships

Base Type

public irobot_create_nodes::WallFollowState (Class WallFollowState)

Class Documentation

class SpiralToEngageWall : public irobot_create_nodes::WallFollowState 

Execute Spiral Pattern increasing in size to engage wall.

Public Functions

inline SpiralToEngageWall(const tf2::Transform &robot_pose, int8_t follow_side)

virtual bool get_next_velocity(const tf2::Transform &robot_pose, const irobot_create_msgs::msg::IrIntensityVector &ir_intensity, const std::vector<std::string> &active_hazard_frames, WFVelocityCommand &vel_cmd) override

inline virtual WallFollowStateID get_id() override

inline virtual bool is_engaged() override