State for choosing a goal from all provided frontiers and calling Navigation when successful. The frontier center closest to the robot is selected as navigation goal. More...

#include <CalculateGoalState.h>

Inheritance diagram for rsm::CalculateGoalState:

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Public Member Functions
	CalculateGoalState ()
	Constructor. More...

void	onActive ()
	Process method (step-wise, never block this method) More...

void	onEntry ()
	Called once when activated. More...

void	onExit ()
	Called once when left. More...

void	onExplorationStart (bool &success, std::string &message)

void	onExplorationStop (bool &success, std::string &message)
	Called when exploration was stopped manually. More...

void	onInterrupt (int interrupt)
	Called when an operation mode interrupt was received. More...

void	onSetup ()
	Called once when registered at StateInterface. More...

void	onWaypointFollowingStart (bool &success, std::string &message)

void	onWaypointFollowingStop (bool &success, std::string &message)

	~CalculateGoalState ()
	Destructor. More...

Public Member Functions inherited from rsm::BaseState
	BaseState ()

std::string	getName ()

StateInterface *	getStateInterface ()

void	setStateInterface (StateInterface *stateinterface)

virtual	~BaseState ()

Private Member Functions
void	abortCalculateGoal ()

bool	differentFromFailedGoals (geometry_msgs::Point point)
	Checks if a point is different from a previously failed goals including a small tolerance. More...

void	failedGoalsCallback (const geometry_msgs::PoseArray::ConstPtr &failed_goals)
	Called when new failed goals are received. More...

void	frontiersCallback (const geometry_msgs::PoseArray::ConstPtr &frontiers)
	Called when new frontiers are received. More...

void	timerCallback (const ros::TimerEvent &event)
	Callback for when no goal was chosen in time and calculation likely failed. More...

Private Attributes
geometry_msgs::PoseArray	_failed_goals

bool	_failed_goals_received

ros::Subscriber	_failed_goals_sub

geometry_msgs::PoseArray	_frontier_points

bool	_frontiers_received

ros::Subscriber	_frontiers_sub

ros::ServiceClient	_get_robot_pose_service

geometry_msgs::Pose	_goal

ros::Timer	_idle_timer

ros::NodeHandle	_nh

ros::ServiceClient	_set_navigation_goal_service

Additional Inherited Members
Protected Attributes inherited from rsm::BaseState
bool	_interrupt_occured

std::string	_name

StateInterface *	_stateinterface

Detailed Description

State for choosing a goal from all provided frontiers and calling Navigation when successful. The frontier center closest to the robot is selected as navigation goal.

Definition at line 22 of file CalculateGoalState.h.

Constructor & Destructor Documentation

rsm::CalculateGoalState::CalculateGoalState ( )

Constructor.

Definition at line 5 of file CalculateGoalState.cpp.

rsm::CalculateGoalState::~CalculateGoalState ( )

Destructor.

Definition at line 9 of file CalculateGoalState.cpp.

Member Function Documentation

void rsm::CalculateGoalState::abortCalculateGoal ( )

private

Initiate transition to idle state

Definition at line 160 of file CalculateGoalState.cpp.

bool rsm::CalculateGoalState::differentFromFailedGoals ( geometry_msgs::Point point )

private

Checks if a point is different from a previously failed goals including a small tolerance.

Parameters

Point that is checked against previously failed goals

Returns: Returns if the given point is different from the previously failed goals

Definition at line 143 of file CalculateGoalState.cpp.

void rsm::CalculateGoalState::failedGoalsCallback ( const geometry_msgs::PoseArray::ConstPtr & failed_goals )

private

Called when new failed goals are received.

Parameters

failed_goals List of poses containing all previously failed goals

Definition at line 137 of file CalculateGoalState.cpp.

void rsm::CalculateGoalState::frontiersCallback ( const geometry_msgs::PoseArray::ConstPtr & frontiers )

private

Called when new frontiers are received.

Parameters

frontiers List of poses containing all frontier centers

Definition at line 131 of file CalculateGoalState.cpp.

void rsm::CalculateGoalState::onActive ( )

virtual

Process method (step-wise, never block this method)

Implements rsm::BaseState.

Definition at line 35 of file CalculateGoalState.cpp.

void rsm::CalculateGoalState::onEntry ( )

virtual

Called once when activated.

Reimplemented from rsm::BaseState.

Definition at line 31 of file CalculateGoalState.cpp.

void rsm::CalculateGoalState::onExit ( )

virtual

Called once when left.

Reimplemented from rsm::BaseState.

Definition at line 76 of file CalculateGoalState.cpp.

void rsm::CalculateGoalState::onExplorationStart	(	bool &	success,
		std::string &	message
	)

virtual

Called when exploration was started manually

Reimplemented from rsm::BaseState.

Definition at line 86 of file CalculateGoalState.cpp.

void rsm::CalculateGoalState::onExplorationStop	(	bool &	success,
		std::string &	message
	)

virtual

Called when exploration was stopped manually.

Reimplemented from rsm::BaseState.

Definition at line 92 of file CalculateGoalState.cpp.

void rsm::CalculateGoalState::onInterrupt ( int interrupt )

virtual

Called when an operation mode interrupt was received.

Parameters

interrupt Kind of interrupt (0=EmergencyStop, 1=TeleoperationInterupt)

Reimplemented from rsm::BaseState.

Definition at line 111 of file CalculateGoalState.cpp.

void rsm::CalculateGoalState::onSetup ( )

virtual

Called once when registered at StateInterface.

Reimplemented from rsm::BaseState.

Definition at line 12 of file CalculateGoalState.cpp.

void rsm::CalculateGoalState::onWaypointFollowingStart	(	bool &	success,
		std::string &	message
	)

virtual

Called when waypoint following was started/paused manually

Reimplemented from rsm::BaseState.

Definition at line 99 of file CalculateGoalState.cpp.

void rsm::CalculateGoalState::onWaypointFollowingStop	(	bool &	success,
		std::string &	message
	)

virtual

Called when waypoint following was stopped manually

Reimplemented from rsm::BaseState.

Definition at line 105 of file CalculateGoalState.cpp.

void rsm::CalculateGoalState::timerCallback ( const ros::TimerEvent & event )

private

Callback for when no goal was chosen in time and calculation likely failed.

Parameters

event

Definition at line 155 of file CalculateGoalState.cpp.

Member Data Documentation

geometry_msgs::PoseArray rsm::CalculateGoalState::_failed_goals

private

List of previously failed goals

Definition at line 94 of file CalculateGoalState.h.

bool rsm::CalculateGoalState::_failed_goals_received

private

Were failed goals received

Definition at line 110 of file CalculateGoalState.h.

ros::Subscriber rsm::CalculateGoalState::_failed_goals_sub

private

Definition at line 86 of file CalculateGoalState.h.

geometry_msgs::PoseArray rsm::CalculateGoalState::_frontier_points

private

List of all available frontier centers

Definition at line 102 of file CalculateGoalState.h.

bool rsm::CalculateGoalState::_frontiers_received

private

Were frontiers received

Definition at line 106 of file CalculateGoalState.h.

ros::Subscriber rsm::CalculateGoalState::_frontiers_sub

private

Definition at line 85 of file CalculateGoalState.h.

ros::ServiceClient rsm::CalculateGoalState::_get_robot_pose_service

private

Definition at line 88 of file CalculateGoalState.h.

geometry_msgs::Pose rsm::CalculateGoalState::_goal

private

Chosen goal to be forwarded to navigation

Definition at line 98 of file CalculateGoalState.h.

ros::Timer rsm::CalculateGoalState::_idle_timer

private

Definition at line 89 of file CalculateGoalState.h.

ros::NodeHandle rsm::CalculateGoalState::_nh

private

Definition at line 84 of file CalculateGoalState.h.

ros::ServiceClient rsm::CalculateGoalState::_set_navigation_goal_service

private

Definition at line 87 of file CalculateGoalState.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation