#include <semantic_navigator.hpp>

Public Member Functions
bool	init ()

void	loginfo (const std::string &msg)

void	logwarn (const std::string &msg)

	SemanticNavigator (ros::NodeHandle &n)

	SemanticNavigator (ros::NodeHandle &n, const std::string &as_navigator_topic, const std::string &sub_waypointlist_topic)

void	spin ()

virtual	~SemanticNavigator ()

Protected Member Functions
bool	cancelMoveBaseGoal ()

bool	clearCostmaps ()

void	determineNavigationState (int &navi_result, const int move_base_result, const actionlib::SimpleClientGoalState move_base_state)

void	feedbackNavigation (const int status, const double distance, const double remain_time, const std::string message)

bool	getGoalLocation (const std::string location, yocs_msgs::Waypoint &waypoint)

void	goNear (const yocs_msgs::Waypoint waypoint, const double in_distance, const int num_retry, const double timeout)

void	goOn (const yocs_msgs::Waypoint waypoint, const double in_distance, const int num_retry, const double timeout)

void	nextState (bool &retry, bool &final_result, std::string &message, const int navi_result, const ros::Time started_time)

void	processMoveBaseFeedback (const move_base_msgs::MoveBaseFeedback::ConstPtr &feedback, const geometry_msgs::PoseStamped &target)

void	processNavigateToGoal ()

void	processNavigation (yocs_msgs::NavigateToGoal::ConstPtr goal)

void	processPreemptNavigateTo ()

void	processWaypointList (const yocs_msgs::WaypointList::ConstPtr &msg)

void	terminateNavigation (bool success, const std::string message)

void	waitForMoveBase (int &move_base_result, const ros::Time &start_time, const double timeout)

Private Attributes
actionlib::SimpleActionClient< move_base_msgs::MoveBaseAction >	ac_move_base_

actionlib::SimpleActionServer< yocs_msgs::NavigateToAction >	as_navi_

BasicMoveController	basic_move_

double	distance_to_goal_

std::string	global_frame_

bool	navigation_in_progress_

ros::NodeHandle	nh_

boost::thread	order_process_thread_

ros::Subscriber	sub_waypointlist_

std::string	sub_waypointlist_topic_

bool	waypoint_received_

yocs_msgs::WaypointList	waypointlist_

Static Private Attributes
static const int	NAVI_FAILED =17

static const int	NAVI_IN_PROGRESS =14

static const int	NAVI_RETRY =16

static const int	NAVI_SUCCESS =15

static const int	NAVI_TIMEOUT =18

static const int	NAVI_UNKNOWN =19

Detailed Description

Definition at line 24 of file semantic_navigator.hpp.

Constructor & Destructor Documentation

yocs_navigator::SemanticNavigator::SemanticNavigator ( ros::NodeHandle & n )

Definition at line 10 of file semantic_navigator.cpp.

yocs_navigator::SemanticNavigator::SemanticNavigator	(	ros::NodeHandle &	n,
		const std::string &	as_navigator_topic,
		const std::string &	sub_waypointlist_topic
	)

Definition at line 18 of file semantic_navigator.cpp.

yocs_navigator::SemanticNavigator::~SemanticNavigator ( )

virtual

Definition at line 26 of file semantic_navigator.cpp.

Member Function Documentation

bool yocs_navigator::SemanticNavigator::cancelMoveBaseGoal ( )

protected

Definition at line 50 of file utils.cpp.

bool yocs_navigator::SemanticNavigator::clearCostmaps ( )

protected

Definition at line 64 of file utils.cpp.

void yocs_navigator::SemanticNavigator::determineNavigationState	(	int &	navi_result,
		const int	move_base_result,
		const actionlib::SimpleClientGoalState	move_base_state
	)

protected

Definition at line 84 of file utils.cpp.

void yocs_navigator::SemanticNavigator::feedbackNavigation	(	const int	status,
		const double	distance,
		const double	remain_time,
		const std::string	message
	)

protected

Definition at line 38 of file utils.cpp.

bool yocs_navigator::SemanticNavigator::getGoalLocation	(	const std::string	location,
		yocs_msgs::Waypoint &	waypoint
	)

protected

Definition at line 9 of file utils.cpp.

void yocs_navigator::SemanticNavigator::goNear	(	const yocs_msgs::Waypoint	waypoint,
		const double	in_distance,
		const int	num_retry,
		const double	timeout
	)

protected

Definition at line 104 of file navigation_handler.cpp.

void yocs_navigator::SemanticNavigator::goOn	(	const yocs_msgs::Waypoint	waypoint,
		const double	in_distance,
		const int	num_retry,
		const double	timeout
	)

protected

Definition at line 52 of file navigation_handler.cpp.

bool yocs_navigator::SemanticNavigator::init ( )

Definition at line 30 of file semantic_navigator.cpp.

void yocs_navigator::SemanticNavigator::loginfo ( const std::string & msg )

Definition at line 202 of file utils.cpp.

void yocs_navigator::SemanticNavigator::logwarn ( const std::string & msg )

Definition at line 207 of file utils.cpp.

void yocs_navigator::SemanticNavigator::nextState	(	bool &	retry,
		bool &	final_result,
		std::string &	message,
		const int	navi_result,
		const ros::Time	started_time
	)

protected

Definition at line 132 of file utils.cpp.

void yocs_navigator::SemanticNavigator::processMoveBaseFeedback	(	const move_base_msgs::MoveBaseFeedback::ConstPtr &	feedback,
		const geometry_msgs::PoseStamped &	target
	)

protected

Definition at line 147 of file navigation_handler.cpp.

void yocs_navigator::SemanticNavigator::processNavigateToGoal ( )

protected

Definition at line 64 of file semantic_navigator.cpp.

void yocs_navigator::SemanticNavigator::processNavigation ( yocs_msgs::NavigateToGoal::ConstPtr goal )

protected

Definition at line 10 of file navigation_handler.cpp.

void yocs_navigator::SemanticNavigator::processPreemptNavigateTo ( )

protected

Definition at line 77 of file semantic_navigator.cpp.

void yocs_navigator::SemanticNavigator::processWaypointList ( const yocs_msgs::WaypointList::ConstPtr & msg )

protected

Definition at line 58 of file semantic_navigator.cpp.

void yocs_navigator::SemanticNavigator::spin ( )

Definition at line 83 of file semantic_navigator.cpp.

void yocs_navigator::SemanticNavigator::terminateNavigation	(	bool	success,
		const std::string	message
	)

protected

Definition at line 24 of file utils.cpp.

void yocs_navigator::SemanticNavigator::waitForMoveBase	(	int &	move_base_result,
		const ros::Time &	start_time,
		const double	timeout
	)

protected

Definition at line 175 of file utils.cpp.

Member Data Documentation

actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> yocs_navigator::SemanticNavigator::ac_move_base_

private

Definition at line 64 of file semantic_navigator.hpp.

actionlib::SimpleActionServer<yocs_msgs::NavigateToAction> yocs_navigator::SemanticNavigator::as_navi_

private

Definition at line 63 of file semantic_navigator.hpp.

BasicMoveController yocs_navigator::SemanticNavigator::basic_move_

private

Definition at line 61 of file semantic_navigator.hpp.

double yocs_navigator::SemanticNavigator::distance_to_goal_

private

Definition at line 70 of file semantic_navigator.hpp.

std::string yocs_navigator::SemanticNavigator::global_frame_

private

Definition at line 67 of file semantic_navigator.hpp.

const int yocs_navigator::SemanticNavigator::NAVI_FAILED =17

staticprivate

Definition at line 78 of file semantic_navigator.hpp.

const int yocs_navigator::SemanticNavigator::NAVI_IN_PROGRESS =14

staticprivate

Definition at line 75 of file semantic_navigator.hpp.

const int yocs_navigator::SemanticNavigator::NAVI_RETRY =16

staticprivate

Definition at line 77 of file semantic_navigator.hpp.

const int yocs_navigator::SemanticNavigator::NAVI_SUCCESS =15

staticprivate

Definition at line 76 of file semantic_navigator.hpp.

const int yocs_navigator::SemanticNavigator::NAVI_TIMEOUT =18

staticprivate

Definition at line 79 of file semantic_navigator.hpp.

const int yocs_navigator::SemanticNavigator::NAVI_UNKNOWN =19

staticprivate

Definition at line 80 of file semantic_navigator.hpp.

bool yocs_navigator::SemanticNavigator::navigation_in_progress_

private

Definition at line 72 of file semantic_navigator.hpp.

ros::NodeHandle yocs_navigator::SemanticNavigator::nh_

private

Definition at line 59 of file semantic_navigator.hpp.

boost::thread yocs_navigator::SemanticNavigator::order_process_thread_

private

Definition at line 73 of file semantic_navigator.hpp.

ros::Subscriber yocs_navigator::SemanticNavigator::sub_waypointlist_

private

Definition at line 62 of file semantic_navigator.hpp.

std::string yocs_navigator::SemanticNavigator::sub_waypointlist_topic_

private

Definition at line 66 of file semantic_navigator.hpp.

bool yocs_navigator::SemanticNavigator::waypoint_received_

private

Definition at line 71 of file semantic_navigator.hpp.

yocs_msgs::WaypointList yocs_navigator::SemanticNavigator::waypointlist_

private

Definition at line 69 of file semantic_navigator.hpp.

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

Public Member Functions

Protected Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation