#include <LocalBehaviorControllerNode.h>

Public Member Functions
	LocalBehaviorControllerNode (ros::NodeHandle &n)

void	publishRobotInfo ()

Public Attributes
ros::NodeHandle	n_
	Node handler to the root node. More...

ros::NodeHandle	n_param_
	Node handler to the current node. More...

std::unique_ptr< ros::Rate >	rate_

Private Member Functions
void	publishPath (std::vector< Eigen::Vector3d > _p)

void	subPoseCb (const geometry_msgs::PoseWithCovarianceStampedConstPtr &_pose)

void	subRobotInfoCb (const tuw_multi_robot_msgs::RobotInfo::ConstPtr &_robot_info)

void	subRouteCb (const tuw_multi_robot_msgs::Route::ConstPtr &_route)

void	updatePath ()

Private Attributes
std::string	frame_map_

RobotStateObserver	observer_

ros::Publisher	pubPath_

ros::Publisher	pubRobotInfo_

std::string	robot_name_

geometry_msgs::PoseWithCovariance	robot_pose_

double	robot_radius_

tuw_multi_robot_msgs::Route	robot_route_

int	robot_step_

std::map< std::string, int >	robot_steps_

double	robotDefaultRadius_ = 0.6

ros::Subscriber	subPose_

ros::Subscriber	subRobotInfo_

ros::Subscriber	subRoute_

std::string	topic_path_

std::string	topic_pose_

std::string	topic_robot_info_

std::string	topic_route_

double	update_rate_

Detailed Description

Definition at line 43 of file LocalBehaviorControllerNode.h.

Constructor & Destructor Documentation

tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::LocalBehaviorControllerNode ( ros::NodeHandle & n )

Definition at line 42 of file LocalBehaviorControllerNode.cpp.

Member Function Documentation

void tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::publishPath ( std::vector< Eigen::Vector3d > _p )

private

Definition at line 91 of file LocalBehaviorControllerNode.cpp.

void tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::publishRobotInfo ( )

Definition at line 211 of file LocalBehaviorControllerNode.cpp.

void tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::subPoseCb ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & _pose )

private

Definition at line 196 of file LocalBehaviorControllerNode.cpp.

void tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::subRobotInfoCb ( const tuw_multi_robot_msgs::RobotInfo::ConstPtr & _robot_info )

private

Definition at line 204 of file LocalBehaviorControllerNode.cpp.

void tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::subRouteCb ( const tuw_multi_robot_msgs::Route::ConstPtr & _route )

private

Definition at line 168 of file LocalBehaviorControllerNode.cpp.

void tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::updatePath ( )

private

Definition at line 120 of file LocalBehaviorControllerNode.cpp.

Member Data Documentation

std::string tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::frame_map_

private

Definition at line 70 of file LocalBehaviorControllerNode.h.

ros::NodeHandle tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::n_

Node handler to the root node.

Definition at line 49 of file LocalBehaviorControllerNode.h.

ros::NodeHandle tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::n_param_

Node handler to the current node.

Definition at line 50 of file LocalBehaviorControllerNode.h.

RobotStateObserver tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::observer_

private

Definition at line 87 of file LocalBehaviorControllerNode.h.

ros::Publisher tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::pubPath_

private

Definition at line 58 of file LocalBehaviorControllerNode.h.

ros::Publisher tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::pubRobotInfo_

private

Definition at line 59 of file LocalBehaviorControllerNode.h.

std::unique_ptr<ros::Rate> tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::rate_

Definition at line 51 of file LocalBehaviorControllerNode.h.

std::string tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::robot_name_

private

Definition at line 71 of file LocalBehaviorControllerNode.h.

geometry_msgs::PoseWithCovariance tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::robot_pose_

private

Definition at line 75 of file LocalBehaviorControllerNode.h.

double tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::robot_radius_

private

Definition at line 72 of file LocalBehaviorControllerNode.h.

tuw_multi_robot_msgs::Route tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::robot_route_

private

Definition at line 76 of file LocalBehaviorControllerNode.h.

int tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::robot_step_

private

Definition at line 84 of file LocalBehaviorControllerNode.h.

std::map<std::string, int> tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::robot_steps_

private

Definition at line 85 of file LocalBehaviorControllerNode.h.

double tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::robotDefaultRadius_ = 0.6

private

Definition at line 73 of file LocalBehaviorControllerNode.h.

ros::Subscriber tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::subPose_

private

Definition at line 61 of file LocalBehaviorControllerNode.h.

ros::Subscriber tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::subRobotInfo_

private

Definition at line 62 of file LocalBehaviorControllerNode.h.

ros::Subscriber tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::subRoute_

private

Definition at line 60 of file LocalBehaviorControllerNode.h.

std::string tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::topic_path_

private

Definition at line 66 of file LocalBehaviorControllerNode.h.

std::string tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::topic_pose_

private

Definition at line 68 of file LocalBehaviorControllerNode.h.

std::string tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::topic_robot_info_

private

Definition at line 69 of file LocalBehaviorControllerNode.h.

std::string tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::topic_route_

private

Definition at line 67 of file LocalBehaviorControllerNode.h.

double tuw_multi_robot_route_to_path::LocalBehaviorControllerNode::update_rate_

private

Definition at line 65 of file LocalBehaviorControllerNode.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation