Handles the RSM transitions between the different state classes and holds a reference to the current and the upcoming state class. More...

#include <StateInterface.h>

Public Member Functions
void	awake ()

boost::shared_ptr< rsm::BaseState >	getPluginState (int plugin_type, std::string routine="")
	Returns a plugin-state corresponding to the given type. More...

	StateInterface ()

void	transitionToVolatileState (boost::shared_ptr< rsm::BaseState > next_state)

virtual	~StateInterface ()

Private Member Functions
void	operationModeCallback (const rsm_msgs::OperationMode::ConstPtr &operation_mode)

void	simpleGoalCallback (const geometry_msgs::PoseStamped::ConstPtr &goal)

bool	startStopExplorationService (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res)

bool	startStopWaypointFollowingService (std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res)

bool	stateInfoService (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

bool	stop2dNavGoal (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

Private Attributes
std::string	_calculate_goal_plugin
	Calculate goal state plugin name for plugin loader. More...

boost::shared_ptr< rsm::BaseState >	_current_state
	Currently active state. More...

std::string	_mapping_plugin
	Mapping state plugin name for plugin loader. More...

std::string	_navigation_plugin
	Navigation state plugin name for plugin loader. More...

boost::shared_ptr< rsm::BaseState >	_next_state
	Upcoming state. More...

ros::NodeHandle	_nh

bool	_on_interrupt

ros::Subscriber	_operation_mode_sub

pluginlib::ClassLoader< rsm::BaseState >	_plugin_loader
	Plugin loader for state plugins. More...

ros::ServiceClient	_set_navigation_goal_client

ros::Subscriber	_simple_goal_sub

ros::ServiceServer	_start_stop_exploration_service

ros::ServiceServer	_start_stop_waypoint_following_service

ros::Publisher	_state_info_publisher

ros::ServiceServer	_state_info_service

ros::ServiceServer	_stop_2d_nav_goal_service

Detailed Description

Handles the RSM transitions between the different state classes and holds a reference to the current and the upcoming state class.

Definition at line 28 of file StateInterface.h.

Constructor & Destructor Documentation

rsm::StateInterface::StateInterface ( )

Constructor

Definition at line 5 of file StateInterface.cpp.

rsm::StateInterface::~StateInterface ( )

virtual

Destructor

Definition at line 39 of file StateInterface.cpp.

Member Function Documentation

void rsm::StateInterface::awake ( )

Awake StateInterface to do his job

Definition at line 86 of file StateInterface.cpp.

boost::shared_ptr< rsm::BaseState > rsm::StateInterface::getPluginState	(	int	plugin_type,
		std::string	routine = `""`
	)

Returns a plugin-state corresponding to the given type.

Parameters

Plugin	state type
Routine	plugin name

Returns: Pointer to plugin state

Definition at line 45 of file StateInterface.cpp.

void rsm::StateInterface::operationModeCallback ( const rsm_msgs::OperationMode::ConstPtr & operation_mode )

private

Callback to receive the current operation mode and issue interrupts to the current state accordingly

Parameters

operation_mode Mode of operation

Definition at line 130 of file StateInterface.cpp.

void rsm::StateInterface::simpleGoalCallback ( const geometry_msgs::PoseStamped::ConstPtr & goal )

private

Callback receiving goals issued in RViz GUI with the 2D Nav Goal Tool and calling the respective interrupt in the current state

Parameters

goal	Navigation goal being set in RViz GUI

Definition at line 152 of file StateInterface.cpp.

bool rsm::StateInterface::startStopExplorationService	(	std_srvs::SetBool::Request &	req,
		std_srvs::SetBool::Response &	res
	)

private

Definition at line 167 of file StateInterface.cpp.

bool rsm::StateInterface::startStopWaypointFollowingService	(	std_srvs::SetBool::Request &	req,
		std_srvs::SetBool::Response &	res
	)

private

Definition at line 186 of file StateInterface.cpp.

bool rsm::StateInterface::stateInfoService	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

private

Definition at line 213 of file StateInterface.cpp.

bool rsm::StateInterface::stop2dNavGoal	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

private

Definition at line 205 of file StateInterface.cpp.

void rsm::StateInterface::transitionToVolatileState ( boost::shared_ptr< rsm::BaseState > next_state )

Activate new state instance. Instance is deleted with next transition.

Parameters

nextState

Definition at line 116 of file StateInterface.cpp.

Member Data Documentation

std::string rsm::StateInterface::_calculate_goal_plugin

private

Calculate goal state plugin name for plugin loader.

Definition at line 90 of file StateInterface.h.

boost::shared_ptr<rsm::BaseState> rsm::StateInterface::_current_state

private

Currently active state.

Definition at line 77 of file StateInterface.h.

std::string rsm::StateInterface::_mapping_plugin

private

Mapping state plugin name for plugin loader.

Definition at line 98 of file StateInterface.h.

std::string rsm::StateInterface::_navigation_plugin

private

Navigation state plugin name for plugin loader.

Definition at line 94 of file StateInterface.h.

boost::shared_ptr<rsm::BaseState> rsm::StateInterface::_next_state

private

Upcoming state.

Definition at line 81 of file StateInterface.h.

ros::NodeHandle rsm::StateInterface::_nh

private

Definition at line 64 of file StateInterface.h.

bool rsm::StateInterface::_on_interrupt

private

Interrupt happened before

Definition at line 85 of file StateInterface.h.

ros::Subscriber rsm::StateInterface::_operation_mode_sub

private

Definition at line 65 of file StateInterface.h.

pluginlib::ClassLoader<rsm::BaseState> rsm::StateInterface::_plugin_loader

private

Plugin loader for state plugins.

Definition at line 102 of file StateInterface.h.

ros::ServiceClient rsm::StateInterface::_set_navigation_goal_client

private

Definition at line 70 of file StateInterface.h.

ros::Subscriber rsm::StateInterface::_simple_goal_sub

private

Definition at line 66 of file StateInterface.h.

ros::ServiceServer rsm::StateInterface::_start_stop_exploration_service

private

Definition at line 67 of file StateInterface.h.

ros::ServiceServer rsm::StateInterface::_start_stop_waypoint_following_service

private

Definition at line 68 of file StateInterface.h.

ros::Publisher rsm::StateInterface::_state_info_publisher

private

Definition at line 72 of file StateInterface.h.

ros::ServiceServer rsm::StateInterface::_state_info_service

private

Definition at line 71 of file StateInterface.h.

ros::ServiceServer rsm::StateInterface::_stop_2d_nav_goal_service

private

Definition at line 69 of file StateInterface.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation