The CostmapRecoveryExecution binds a local and a global costmap to the AbstractRecoveryExecution and uses the nav_core/CostmapRecovery class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...

#include <costmap_recovery_execution.h>

Inheritance diagram for mbf_costmap_nav::CostmapRecoveryExecution:

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Public Types
typedef boost::shared_ptr< CostmapRecoveryExecution >	Ptr

Public Types inherited from mbf_abstract_nav::AbstractRecoveryExecution
typedef boost::shared_ptr< AbstractRecoveryExecution >	Ptr

enum	RecoveryState

Public Member Functions
	CostmapRecoveryExecution (const std::string &recovery_name, const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr, const TFPtr &tf_listener_ptr, const CostmapWrapper::Ptr &global_costmap, const CostmapWrapper::Ptr &local_costmap, const MoveBaseFlexConfig &config)
	Constructor. More...

virtual	~CostmapRecoveryExecution ()

Public Member Functions inherited from mbf_abstract_nav::AbstractRecoveryExecution
	AbstractRecoveryExecution (const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &recovery_ptr, const TFPtr &tf_listener_ptr, const MoveBaseFlexConfig &config)

virtual bool	cancel ()

AbstractRecoveryExecution::RecoveryState	getState ()

bool	isPatienceExceeded ()

void	reconfigure (const MoveBaseFlexConfig &config)

virtual	~AbstractRecoveryExecution ()

Public Member Functions inherited from mbf_abstract_nav::AbstractExecutionBase
	AbstractExecutionBase (std::string name)

std::string	getMessage ()

std::string	getName ()

uint32_t	getOutcome ()

void	join ()

virtual bool	start ()

virtual void	stop ()

boost::cv_status	waitForStateUpdate (boost::chrono::microseconds const &duration)

Private Member Functions
void	postRun ()
	Implementation-specific cleanup function, called right after execution. This method overrides abstract execution empty implementation with underlying map-specific cleanup code. More...

void	preRun ()
	Implementation-specific setup function, called right before execution. This method overrides abstract execution empty implementation with underlying map-specific setup code. More...

mbf_abstract_nav::MoveBaseFlexConfig	toAbstract (const MoveBaseFlexConfig &config)

Private Attributes
const CostmapWrapper::Ptr &	global_costmap_
	Shared pointer to the global costmap. More...

const CostmapWrapper::Ptr &	local_costmap_
	Shared pointer to thr local costmap. More...

Additional Inherited Members
Public Attributes inherited from mbf_abstract_nav::AbstractRecoveryExecution
	CANCELED

	INITIALIZED

	INTERNAL_ERROR

	RECOVERING

	RECOVERY_DONE

	STARTED

	STOPPED

	WRONG_NAME

Protected Member Functions inherited from mbf_abstract_nav::AbstractRecoveryExecution
virtual void	run ()

Protected Attributes inherited from mbf_abstract_nav::AbstractRecoveryExecution
mbf_abstract_core::AbstractRecovery::Ptr	behavior_

const TFPtr	tf_listener_ptr_

Protected Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
bool	cancel_

boost::condition_variable	condition_

std::string	message_

std::string	name_

uint32_t	outcome_

boost::thread	thread_

Detailed Description

The CostmapRecoveryExecution binds a local and a global costmap to the AbstractRecoveryExecution and uses the nav_core/CostmapRecovery class as base plugin interface. This class makes move_base_flex compatible to the old move_base.

Definition at line 60 of file costmap_recovery_execution.h.

Member Typedef Documentation

typedef boost::shared_ptr<CostmapRecoveryExecution> mbf_costmap_nav::CostmapRecoveryExecution::Ptr

Definition at line 64 of file costmap_recovery_execution.h.

Constructor & Destructor Documentation

mbf_costmap_nav::CostmapRecoveryExecution::CostmapRecoveryExecution	(	const std::string &	recovery_name,
		const mbf_costmap_core::CostmapRecovery::Ptr &	recovery_ptr,
		const TFPtr &	tf_listener_ptr,
		const CostmapWrapper::Ptr &	global_costmap,
		const CostmapWrapper::Ptr &	local_costmap,
		const MoveBaseFlexConfig &	config
	)

Constructor.

Parameters

recovery_name	Name of the recovery behavior to run.
recovery_ptr	Shared pointer to the plugin to use.
tf_listener_ptr	Shared pointer to a common tf listener
global_costmap	Shared pointer to the global costmap.
local_costmap	Shared pointer to the local costmap.
config	Current server configuration (dynamic).

Definition at line 47 of file costmap_recovery_execution.cpp.

mbf_costmap_nav::CostmapRecoveryExecution::~CostmapRecoveryExecution ( )

virtual

Destructor

Definition at line 59 of file costmap_recovery_execution.cpp.

Member Function Documentation

void mbf_costmap_nav::CostmapRecoveryExecution::postRun ( )

inlineprivatevirtual

Implementation-specific cleanup function, called right after execution. This method overrides abstract execution empty implementation with underlying map-specific cleanup code.

Reimplemented from mbf_abstract_nav::AbstractExecutionBase.

Definition at line 103 of file costmap_recovery_execution.h.

void mbf_costmap_nav::CostmapRecoveryExecution::preRun ( )

inlineprivatevirtual

Implementation-specific setup function, called right before execution. This method overrides abstract execution empty implementation with underlying map-specific setup code.

Reimplemented from mbf_abstract_nav::AbstractExecutionBase.

Definition at line 93 of file costmap_recovery_execution.h.

mbf_abstract_nav::MoveBaseFlexConfig mbf_costmap_nav::CostmapRecoveryExecution::toAbstract ( const MoveBaseFlexConfig & config )

private

Definition at line 63 of file costmap_recovery_execution.cpp.