A class to monitor if the vehicle docked in a given bay. More...

#include <scan_dock_scoring_plugin.hh>

Public Member Functions
bool	Allowed () const
	Whether it is allowed to dock in this bay or not. More...

void	AnnounceSymbol ()
	Announce the symbol of the bay via ROS. More...

bool	AnytimeDocked () const
	Whether the robot has been successfully docked in this bay or not. More...

bool	AtEntrance () const
	Whether the robot is currently at the entrance of the bay. More...

	DockChecker (const std::string &_name, const std::string &_internalActivationTopic, const std::string &_exteriorActivationTopic, const double _minDockTime, const bool _dockAllowed, const std::string &_worldName, const std::string &_rosNameSpace, const std::string &_announceSymbol, const std::string &_gzSymbolTopic)
	Constructor. More...

void	Update ()
	Update function that needs to be executed periodically. More...

Public Attributes
std::string	name
	The name of this checker. More...

Private Member Functions
void	OnExternalActivationEvent (ConstIntPtr &_msg)
	Callback triggered when the vehicle enters or exits the activation zone. More...

void	OnInternalActivationEvent (ConstIntPtr &_msg)
	Callback triggered when the vehicle enters or exits the activation zone. More...

Private Attributes
std_msgs::String	announceSymbol
	Color and shape of symbol to announce. E.g.: red_cross, blue_circle. More...

bool	anytimeDocked = false
	Whether the vehicle has successfully docked or not. More...

bool	atEntrance = false
	Whether the vehicle is at the entrance of the bay or not. More...

gazebo::transport::SubscriberPtr	containSub
	Subscriber to receive notifications from the contain plugin. More...

bool	dockAllowed
	Whether is allowed to dock in this bay or not. More...

gazebo::transport::PublisherPtr	dockPlacardPub
	Publish the placard symbols. More...

std::string	externalActivationTopic
	The gazebo topic used to receive notifications from the external activation zone. More...

std::string	gzSymbolTopic
	The gazebo topic used to publish symbols to the placards. More...

std::string	internalActivationTopic
	The gazebo topic used to receive notifications from the internal activation zone. More...

double	minDockTime
	Minimum amount of seconds to stay docked to be considered a fully successfull dock. More...

std::unique_ptr< ros::NodeHandle >	nh
	ROS Node handle. More...

gazebo::transport::NodePtr	node
	Create a node for communication. More...

std::string	ns
	ROS namespace. More...

ros::Publisher	symbolPub
	Publisher for the symbol. More...

std::string	symbolTopic = "/vrx/scan_dock/placard_symbol"
	ROS topic where the target symbol will be published. More...

gazebo::common::Timer	timer
	Timer used to calculate the elapsed time docked in the bay. More...

Detailed Description

A class to monitor if the vehicle docked in a given bay.

Definition at line 94 of file scan_dock_scoring_plugin.hh.

Constructor & Destructor Documentation

DockChecker::DockChecker	(	const std::string &	_name,
		const std::string &	_internalActivationTopic,
		const std::string &	_exteriorActivationTopic,
		const double	_minDockTime,
		const bool	_dockAllowed,
		const std::string &	_worldName,
		const std::string &	_rosNameSpace,
		const std::string &	_announceSymbol,
		const std::string &	_gzSymbolTopic
	)

Constructor.

Parameters

[in]	_name	The name of the checker (only used for debugging).
[in]	_internalActivationTopic	The gazebo topic used to receive notifications about the internal activation zone.
[in]	_externalActivationTopic	The gazebo topic used to receive notifications about the external activation zone. from the "contain" plugin.
[in]	_minDockTime	Minimum amount of seconds to stay docked to be considered a fully successfull dock.
[in]	_dockAllowed	Whether is allowed to dock in this bay or not.
[in]	_worldName	Gazebo world name.
[in]	_announceSymbol	Optional symbol to announce via ROS.

Definition at line 125 of file scan_dock_scoring_plugin.cc.

Member Function Documentation

bool DockChecker::Allowed ( ) const

Whether it is allowed to dock in this bay or not.

Definition at line 175 of file scan_dock_scoring_plugin.cc.

void DockChecker::AnnounceSymbol ( )

Announce the symbol of the bay via ROS.

Definition at line 181 of file scan_dock_scoring_plugin.cc.

bool DockChecker::AnytimeDocked ( ) const

Whether the robot has been successfully docked in this bay or not.

Returns: True when the robot has been docked or false otherwise.

Definition at line 163 of file scan_dock_scoring_plugin.cc.

bool DockChecker::AtEntrance ( ) const

Whether the robot is currently at the entrance of the bay.

Returns: True when the robot is at the entrance or false othwerwise.

Definition at line 169 of file scan_dock_scoring_plugin.cc.

void DockChecker::OnExternalActivationEvent ( ConstIntPtr & _msg )

private

Callback triggered when the vehicle enters or exits the activation zone.

Parameters

[in] _msg The current state (0: exiting, 1: entering).

Definition at line 310 of file scan_dock_scoring_plugin.cc.

void DockChecker::OnInternalActivationEvent ( ConstIntPtr & _msg )

private

Callback triggered when the vehicle enters or exits the activation zone.

Parameters

[in] _msg The current state (0: exiting, 1: entering).

Definition at line 276 of file scan_dock_scoring_plugin.cc.

void DockChecker::Update ( )

Update function that needs to be executed periodically.

Definition at line 205 of file scan_dock_scoring_plugin.cc.

Member Data Documentation

std_msgs::String DockChecker::announceSymbol

private

Color and shape of symbol to announce. E.g.: red_cross, blue_circle.

Definition at line 195 of file scan_dock_scoring_plugin.hh.

bool DockChecker::anytimeDocked = false

private

Whether the vehicle has successfully docked or not.

Definition at line 189 of file scan_dock_scoring_plugin.hh.

bool DockChecker::atEntrance = false

private

Whether the vehicle is at the entrance of the bay or not.

Definition at line 192 of file scan_dock_scoring_plugin.hh.

gazebo::transport::SubscriberPtr DockChecker::containSub

private

Subscriber to receive notifications from the contain plugin.

Definition at line 186 of file scan_dock_scoring_plugin.hh.

bool DockChecker::dockAllowed

private

Whether is allowed to dock in this bay or not.

Definition at line 172 of file scan_dock_scoring_plugin.hh.

gazebo::transport::PublisherPtr DockChecker::dockPlacardPub

private

Publish the placard symbols.

Definition at line 210 of file scan_dock_scoring_plugin.hh.

std::string DockChecker::externalActivationTopic

private

The gazebo topic used to receive notifications from the external activation zone.

Definition at line 162 of file scan_dock_scoring_plugin.hh.

std::string DockChecker::gzSymbolTopic

private

The gazebo topic used to publish symbols to the placards.

Definition at line 165 of file scan_dock_scoring_plugin.hh.

std::string DockChecker::internalActivationTopic

private

The gazebo topic used to receive notifications from the internal activation zone.

Definition at line 158 of file scan_dock_scoring_plugin.hh.

double DockChecker::minDockTime

private

Minimum amount of seconds to stay docked to be considered a fully successfull dock.

Definition at line 169 of file scan_dock_scoring_plugin.hh.

std::string DockChecker::name

The name of this checker.

Definition at line 119 of file scan_dock_scoring_plugin.hh.

std::unique_ptr<ros::NodeHandle> DockChecker::nh

private

ROS Node handle.

Definition at line 201 of file scan_dock_scoring_plugin.hh.

gazebo::transport::NodePtr DockChecker::node

private

Create a node for communication.

Definition at line 183 of file scan_dock_scoring_plugin.hh.

std::string DockChecker::ns

private

ROS namespace.

Definition at line 198 of file scan_dock_scoring_plugin.hh.

ros::Publisher DockChecker::symbolPub

private

Publisher for the symbol.

Definition at line 204 of file scan_dock_scoring_plugin.hh.

std::string DockChecker::symbolTopic = "/vrx/scan_dock/placard_symbol"

private

ROS topic where the target symbol will be published.

Definition at line 207 of file scan_dock_scoring_plugin.hh.

gazebo::common::Timer DockChecker::timer

private

Timer used to calculate the elapsed time docked in the bay.

Definition at line 175 of file scan_dock_scoring_plugin.hh.

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