#include <controller_action.h>

Inheritance diagram for mbf_abstract_nav::ControllerAction:

Public Types
typedef boost::shared_ptr< ControllerAction >	Ptr

Public Types inherited from mbf_abstract_nav::AbstractAction< mbf_msgs::ExePathAction, AbstractControllerExecution >
typedef actionlib::ActionServer< mbf_msgs::ExePathAction >::GoalHandle	GoalHandle

typedef boost::shared_ptr< AbstractAction >	Ptr

typedef boost::function< void(GoalHandle &goal_handle, AbstractControllerExecution &execution)>	RunMethod

Public Member Functions
	ControllerAction (const std::string &name, const RobotInformation &robot_info)

void	run (GoalHandle &goal_handle, AbstractControllerExecution &execution)

void	start (GoalHandle &goal_handle, typename AbstractControllerExecution::Ptr execution_ptr)
	Start controller action. Override abstract action version to allow updating current plan without stopping execution. More...

Public Member Functions inherited from mbf_abstract_nav::AbstractAction< mbf_msgs::ExePathAction, AbstractControllerExecution >
	AbstractAction (const std::string &name, const RobotInformation &robot_info, const RunMethod run_method)

virtual void	cancel (GoalHandle &goal_handle)

virtual void	cancelAll ()

virtual void	reconfigureAll (mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level)

virtual void	runAndCleanUp (GoalHandle &goal_handle, typename AbstractControllerExecution::Ptr execution_ptr)

Protected Member Functions
void	fillExePathResult (uint32_t outcome, const std::string &message, mbf_msgs::ExePathResult &result)
	Utility method to fill the ExePath action result in a single line. More...

void	publishExePathFeedback (GoalHandle &goal_handle, uint32_t outcome, const std::string &message, const geometry_msgs::TwistStamped &current_twist)

Protected Attributes
boost::mutex	goal_mtx_
	lock goal handle for updating it while running More...

geometry_msgs::PoseStamped	goal_pose_
	Current goal pose. More...

geometry_msgs::PoseStamped	robot_pose_
	Current robot pose. More...

Protected Attributes inherited from mbf_abstract_nav::AbstractAction< mbf_msgs::ExePathAction, AbstractControllerExecution >
std::map< uint8_t, ConcurrencySlot >	concurrency_slots_

const std::string &	name_

const RobotInformation &	robot_info_

RunMethod	run_

boost::mutex	slot_map_mtx_

boost::thread_group	threads_

Detailed Description

Definition at line 52 of file controller_action.h.

Member Typedef Documentation

typedef boost::shared_ptr<ControllerAction> mbf_abstract_nav::ControllerAction::Ptr

Definition at line 57 of file controller_action.h.

Constructor & Destructor Documentation

mbf_abstract_nav::ControllerAction::ControllerAction	(	const std::string &	name,
		const RobotInformation &	robot_info
	)

Definition at line 46 of file controller_action.cpp.

Member Function Documentation

void mbf_abstract_nav::ControllerAction::fillExePathResult	(	uint32_t	outcome,
		const std::string &	message,
		mbf_msgs::ExePathResult &	result
	)

protected

Utility method to fill the ExePath action result in a single line.

Parameters

outcome	ExePath action outcome
message	ExePath action message
result	The action result to fill

Definition at line 345 of file controller_action.cpp.

void mbf_abstract_nav::ControllerAction::publishExePathFeedback	(	GoalHandle &	goal_handle,
		uint32_t	outcome,
		const std::string &	message,
		const geometry_msgs::TwistStamped &	current_twist
	)

protected

Definition at line 326 of file controller_action.cpp.

void mbf_abstract_nav::ControllerAction::run	(	GoalHandle &	goal_handle,
		AbstractControllerExecution &	execution
	)

Definition at line 95 of file controller_action.cpp.

void mbf_abstract_nav::ControllerAction::start	(	GoalHandle &	goal_handle,
		typename AbstractControllerExecution::Ptr	execution_ptr
	)

virtual

Start controller action. Override abstract action version to allow updating current plan without stopping execution.

Parameters

goal_handle	Reference to the goal handle received on action execution callback.
execution_ptr	Pointer to the execution descriptor.

Reimplemented from mbf_abstract_nav::AbstractAction< mbf_msgs::ExePathAction, AbstractControllerExecution >.

Definition at line 53 of file controller_action.cpp.

Member Data Documentation

boost::mutex mbf_abstract_nav::ControllerAction::goal_mtx_

protected

lock goal handle for updating it while running

Definition at line 91 of file controller_action.h.

geometry_msgs::PoseStamped mbf_abstract_nav::ControllerAction::goal_pose_

protected

Current goal pose.

Definition at line 93 of file controller_action.h.

geometry_msgs::PoseStamped mbf_abstract_nav::ControllerAction::robot_pose_

protected

Current robot pose.

Definition at line 92 of file controller_action.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation