rsm::WaypointFollowingState Class Reference

State to decide which waypoint will be the next navigation goal while in waypoint following mode. More...

#include <WaypointFollowingState.h>

Inheritance diagram for rsm::WaypointFollowingState:

Public Member Functions
void	onActive ()
void	onEntry ()
void	onExit ()
void	onExplorationStart (bool &success, std::string &message)
void	onExplorationStop (bool &success, std::string &message)
void	onInterrupt (int interrupt)
	Called when an operation mode interrupt was received. More...
void	onSetup ()
void	onWaypointFollowingStart (bool &success, std::string &message)
void	onWaypointFollowingStop (bool &success, std::string &message)
	WaypointFollowingState ()
	~WaypointFollowingState ()
Public Member Functions inherited from rsm::BaseState
	BaseState ()
std::string	getName ()
StateInterface *	getStateInterface ()
void	setStateInterface (StateInterface *stateinterface)
virtual	~BaseState ()

Private Member Functions
void	abortWaypointFollowing ()
void	getWaypoints ()
void	resetWaypoints ()
void	setCurrentWaypointVisited ()

Private Attributes
ros::ServiceClient	_get_waypoints_service
int	_next_waypoint_position
ros::ServiceClient	_reset_waypoints_service
ros::ServiceClient	_set_navigation_goal_service
ros::ServiceClient	_set_waypoint_following_mode_service
rsm_msgs::WaypointArray	_waypoint_array
ros::ServiceClient	_waypoint_visited_service

Additional Inherited Members
Protected Attributes inherited from rsm::BaseState
bool	_interrupt_occured
	Shows if an interupt occured. More...
std::string	_name
	Name of the state. More...
StateInterface *	_stateinterface
	Pointer to State Interface handling all state transitions. More...

Detailed Description

State to decide which waypoint will be the next navigation goal while in waypoint following mode.

Definition at line 22 of file WaypointFollowingState.h.

Constructor & Destructor Documentation

rsm::WaypointFollowingState::WaypointFollowingState

(

)

Constructor

Definition at line 5 of file WaypointFollowingState.cpp.

rsm::WaypointFollowingState::~WaypointFollowingState

(

)

Destructor

Definition at line 8 of file WaypointFollowingState.cpp.

Member Function Documentation

void rsm::WaypointFollowingState::abortWaypointFollowing ( )

private

Initiates transition to Idle State

Definition at line 155 of file WaypointFollowingState.cpp.

void rsm::WaypointFollowingState::getWaypoints ( )

private

Requests all waypoints from Service Provider

Definition at line 162 of file WaypointFollowingState.cpp.

void rsm::WaypointFollowingState::onActive ( )

virtual

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

Implements rsm::BaseState.

Definition at line 34 of file WaypointFollowingState.cpp.

void rsm::WaypointFollowingState::onEntry ( )

virtual

Called once when activated

Reimplemented from rsm::BaseState.

Definition at line 30 of file WaypointFollowingState.cpp.

void rsm::WaypointFollowingState::onExit ( )

virtual

Called once when left

Reimplemented from rsm::BaseState.

Definition at line 93 of file WaypointFollowingState.cpp.

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

virtual

Called when exploration was started manually

Reimplemented from rsm::BaseState.

Definition at line 110 of file WaypointFollowingState.cpp.

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

virtual

Called when exploration was stopped manually

Reimplemented from rsm::BaseState.

Definition at line 116 of file WaypointFollowingState.cpp.

void rsm::WaypointFollowingState::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 135 of file WaypointFollowingState.cpp.

void rsm::WaypointFollowingState::onSetup ( )

virtual

Called once when registered at StateInterface

Reimplemented from rsm::BaseState.

Definition at line 11 of file WaypointFollowingState.cpp.

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

virtual

Called when waypoint following was started/paused manually

Reimplemented from rsm::BaseState.

Definition at line 122 of file WaypointFollowingState.cpp.

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

virtual

Called when waypoint following was stopped manually

Reimplemented from rsm::BaseState.

Definition at line 128 of file WaypointFollowingState.cpp.

void rsm::WaypointFollowingState::resetWaypoints ( )

private

Resets the status' of all waypoints and aborts waypoint following

Definition at line 190 of file WaypointFollowingState.cpp.

void rsm::WaypointFollowingState::setCurrentWaypointVisited ( )

private

Definition at line 177 of file WaypointFollowingState.cpp.

Member Data Documentation

ros::ServiceClient rsm::WaypointFollowingState::_get_waypoints_service

private

Definition at line 83 of file WaypointFollowingState.h.

int rsm::WaypointFollowingState::_next_waypoint_position

private

Position of the next waypoint to navigate to in the list

Definition at line 96 of file WaypointFollowingState.h.

ros::ServiceClient rsm::WaypointFollowingState::_reset_waypoints_service

private

Definition at line 85 of file WaypointFollowingState.h.

ros::ServiceClient rsm::WaypointFollowingState::_set_navigation_goal_service

private

Definition at line 86 of file WaypointFollowingState.h.

ros::ServiceClient rsm::WaypointFollowingState::_set_waypoint_following_mode_service

private

Definition at line 84 of file WaypointFollowingState.h.

rsm_msgs::WaypointArray rsm::WaypointFollowingState::_waypoint_array

private

List of all waypoints

Definition at line 92 of file WaypointFollowingState.h.

ros::ServiceClient rsm::WaypointFollowingState::_waypoint_visited_service

private

Definition at line 87 of file WaypointFollowingState.h.

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

• WaypointFollowingState.h
• WaypointFollowingState.cpp