Public Types | Public Member Functions | Private Member Functions | Private Attributes | List of all members
mbf_costmap_nav::CostmapRecoveryExecution Class Reference

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< CostmapRecoveryExecutionPtr
 
- Public Types inherited from mbf_abstract_nav::AbstractRecoveryExecution
typedef boost::shared_ptr< AbstractRecoveryExecutionPtr
 
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::Ptrglobal_costmap_
 Shared pointer to the global costmap. More...
 
const CostmapWrapper::Ptrlocal_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

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_nameName of the recovery behavior to run.
recovery_ptrShared pointer to the plugin to use.
tf_listener_ptrShared pointer to a common tf listener
global_costmapShared pointer to the global costmap.
local_costmapShared pointer to the local costmap.
configCurrent 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.

Member Data Documentation

const CostmapWrapper::Ptr& mbf_costmap_nav::CostmapRecoveryExecution::global_costmap_
private

Shared pointer to the global costmap.

Definition at line 112 of file costmap_recovery_execution.h.

const CostmapWrapper::Ptr& mbf_costmap_nav::CostmapRecoveryExecution::local_costmap_
private

Shared pointer to thr local costmap.

Definition at line 115 of file costmap_recovery_execution.h.


The documentation for this class was generated from the following files:


mbf_costmap_nav
Author(s): Sebastian Pütz
autogenerated on Fri Nov 6 2020 03:56:29