Public Member Functions | Protected Member Functions | Private Attributes | Static Private Attributes | List of all members
yocs_navigator::SemanticNavigator Class Reference

#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:


yocs_navigator
Author(s): Jihoon Lee, Jorge Simon Santos
autogenerated on Mon Jun 10 2019 15:53:58