Class WallFollowState

Defined in File wall_follow_states.hpp

Inheritance Relationships

Derived Types

public irobot_create_nodes::AlignedIRServo (Class AlignedIRServo)
public irobot_create_nodes::ObstacleInFront (Class ObstacleInFront)
public irobot_create_nodes::SpiralToEngageWall (Class SpiralToEngageWall)
public irobot_create_nodes::WallFollowStateManager (Class WallFollowStateManager)

Class Documentation

class WallFollowState

Base Class for Wall Follow States in State Machine.

Subclassed by irobot_create_nodes::AlignedIRServo, irobot_create_nodes::ObstacleInFront, irobot_create_nodes::SpiralToEngageWall, irobot_create_nodes::WallFollowStateManager

Public Functions

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) = 0

virtual WallFollowStateID get_id() = 0

virtual bool is_engaged() = 0