Represents one robot in STDR. Inherts publicly from nodelet::Nodelet. More...

#include <stdr_robot.h>

Inheritance diagram for stdr_robot::Robot:

Public Member Functions
void	initializeRobot (const actionlib::SimpleClientGoalState &state, const stdr_msgs::RegisterRobotResultConstPtr result)
	Initializes the robot after on registering it to server. More...

void	mapCallback (const nav_msgs::OccupancyGridConstPtr &msg)
	Callback for getting the occupancy grid map. More...

bool	moveRobotCallback (stdr_msgs::MoveRobot::Request &req, stdr_msgs::MoveRobot::Response &res)
	The callback of the re-place robot service. More...

void	onInit (void)
	Initializes the robot and gets the environment occupancy grid map. More...

	Robot (void)
	Default constructor. More...

	~Robot (void)
	Default destructor. More...

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Private Member Functions
bool	checkUnknownOccupancy (const geometry_msgs::Pose2D &newPose)
	Checks the robot's reposition into unknown area. More...

bool	collisionExists (const geometry_msgs::Pose2D &newPose, const geometry_msgs::Pose2D &collisionPoint)
	Checks the robot collision -2b changed-. More...

bool	collisionExistsNoPath (const geometry_msgs::Pose2D &newPose)
	Checks the robot collision -2b changed-. More...

std::vector< std::pair< int, int > >	getPointsBetween (int x1, int y1, int x2, int y2)
	Robot's previous movement direction in X Axis. More...

void	publishTransforms (const ros::TimerEvent &)
	Publishes the tf transforms every with 10Hz. More...

Private Attributes
geometry_msgs::Pose2D	_currentPose
	Holds robots previous pose. More...

std::vector< std::pair< float, float > >	_footprint

nav_msgs::OccupancyGrid	_map
	ROS tf transform broadcaster. More...

ros::Subscriber	_mapSubscriber
	< ROS subscriber for map More...

MotionControllerPtr	_motionControllerPtr
	Actionlib client for registering the robot. More...

ros::ServiceServer	_moveRobotService
	Container for robot sensors. More...

ros::Publisher	_odomPublisher
	Holds robots current pose. More...

bool	_previousMovementXAxis
	Robot's previous movement direction in Y Axis. More...

bool	_previousMovementYAxis

geometry_msgs::Pose2D	_previousPose
	Pointer of a motion controller. More...

RegisterRobotClientPtr	_registerClientPtr
	The robot footprint in points (row * 10000 + col) More...

SensorPtrVector	_sensors
	The occupancy grid map. More...

tf::TransformBroadcaster	_tfBroadcaster
	Odometry Publisher. More...

ros::Timer	_tfTimer
	ROS service server to move robot. More...

Additional Inherited Members
Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Detailed Description

Represents one robot in STDR. Inherts publicly from nodelet::Nodelet.

Definition at line 59 of file stdr_robot.h.

Constructor & Destructor Documentation

Robot::Robot ( void )

Default constructor.

Returns: void

Definition at line 34 of file stdr_robot.cpp.

Robot::~Robot ( void )

Default destructor.

Returns: void

< Cleanup

Definition at line 470 of file stdr_robot.cpp.

Member Function Documentation

bool Robot::checkUnknownOccupancy ( const geometry_msgs::Pose2D & newPose )

private

Checks the robot's reposition into unknown area.

Parameters

newPose [const geometry_msgs::Pose2D] The pose for the robot to be moved to

Returns: True when position is in unknown area y

Parameters

newPose [const geometry_msgs::Pose2D] The pose for the robot to be moved to

Returns: True when position is in unknown area

Definition at line 249 of file stdr_robot.cpp.

bool Robot::collisionExists	(	const geometry_msgs::Pose2D &	newPose,
		const geometry_msgs::Pose2D &	previousPose
	)

private

Checks the robot collision -2b changed-.

Returns: void; True on collision

Definition at line 301 of file stdr_robot.cpp.

bool Robot::collisionExistsNoPath ( const geometry_msgs::Pose2D & newPose )

private

Checks the robot collision -2b changed-.

Returns: True on collision

Definition at line 215 of file stdr_robot.cpp.

std::vector< std::pair< int, int > > Robot::getPointsBetween	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)

private

Robot's previous movement direction in X Axis.

Returns the points between two points.

Parameters

x1	: The x coord of the first point
y1	: The y coord of the first point
x2	: The x coord of the second point
y2	: The y coord of the second point

Returns: The points inbetween

Definition at line 276 of file stdr_robot.cpp.

void Robot::initializeRobot	(	const actionlib::SimpleClientGoalState &	state,
		const stdr_msgs::RegisterRobotResultConstPtr	result
	)

Initializes the robot after on registering it to server.

Parameters

state	[const actionlib::SimpleClientGoalState&] State of action
result	[const stdr_msgs::RegisterRobotResultConstPtr] Action result of registering the robot

Returns: void

Definition at line 74 of file stdr_robot.cpp.

void Robot::mapCallback ( const nav_msgs::OccupancyGridConstPtr & msg )

Callback for getting the occupancy grid map.

Parameters

msg	[const nav_msgs::OccupancyGridConstPtr&] The occupancy grid map

Returns: void

Definition at line 183 of file stdr_robot.cpp.

bool Robot::moveRobotCallback	(	stdr_msgs::MoveRobot::Request &	req,
		stdr_msgs::MoveRobot::Response &	res
	)

The callback of the re-place robot service.

Parameters

req	[stdr_msgs::MoveRobot::Request&] The service request
res	[stdr_msgs::MoveRobot::Response&] The service result

Returns: bool

Definition at line 194 of file stdr_robot.cpp.

void Robot::onInit ( void )

virtual

Initializes the robot and gets the environment occupancy grid map.

Returns: void

Implements nodelet::Nodelet.

Definition at line 43 of file stdr_robot.cpp.

void Robot::publishTransforms ( const ros::TimerEvent & )

private

Publishes the tf transforms every with 10Hz.

Returns: void

< Odometry

< Sensors tf

Definition at line 413 of file stdr_robot.cpp.

Member Data Documentation

geometry_msgs::Pose2D stdr_robot::Robot::_currentPose

private

Holds robots previous pose.

Definition at line 157 of file stdr_robot.h.

std::vector<std::pair<float,float> > stdr_robot::Robot::_footprint

private

Definition at line 169 of file stdr_robot.h.

nav_msgs::OccupancyGrid stdr_robot::Robot::_map

private

ROS tf transform broadcaster.

Definition at line 148 of file stdr_robot.h.

ros::Subscriber stdr_robot::Robot::_mapSubscriber

private

< ROS subscriber for map

ROS timer to publish tf transforms (10Hz)

Definition at line 136 of file stdr_robot.h.

MotionControllerPtr stdr_robot::Robot::_motionControllerPtr

private

Actionlib client for registering the robot.

Definition at line 163 of file stdr_robot.h.

ros::ServiceServer stdr_robot::Robot::_moveRobotService

private

Container for robot sensors.

Definition at line 142 of file stdr_robot.h.

ros::Publisher stdr_robot::Robot::_odomPublisher

private

Holds robots current pose.

Definition at line 154 of file stdr_robot.h.

bool stdr_robot::Robot::_previousMovementXAxis

private

Robot's previous movement direction in Y Axis.

Definition at line 175 of file stdr_robot.h.

bool stdr_robot::Robot::_previousMovementYAxis

private

Definition at line 178 of file stdr_robot.h.

geometry_msgs::Pose2D stdr_robot::Robot::_previousPose

private

Pointer of a motion controller.

Definition at line 160 of file stdr_robot.h.

RegisterRobotClientPtr stdr_robot::Robot::_registerClientPtr

private

The robot footprint in points (row * 10000 + col)

Definition at line 166 of file stdr_robot.h.

SensorPtrVector stdr_robot::Robot::_sensors

private

The occupancy grid map.

Definition at line 145 of file stdr_robot.h.

tf::TransformBroadcaster stdr_robot::Robot::_tfBroadcaster

private

Odometry Publisher.

Definition at line 151 of file stdr_robot.h.

ros::Timer stdr_robot::Robot::_tfTimer

private

ROS service server to move robot.

Definition at line 139 of file stdr_robot.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