mbf_abstract_nav::AbstractExecutionBase Class Reference

Base class for running concurrent navigation tasks. More...

#include <abstract_execution_base.h>

Inheritance diagram for mbf_abstract_nav::AbstractExecutionBase:

Public Member Functions
	AbstractExecutionBase (const std::string &name)
virtual bool	cancel ()
	Cancel the plugin execution. More...
const std::string &	getMessage () const
	Gets the current plugin execution message. More...
const std::string &	getName () const
	Returns the name of the corresponding plugin. More...
uint32_t	getOutcome () const
	Gets the current plugin execution outcome. More...
void	join ()
virtual void	postRun ()
	Optional implementation-specific cleanup function, called right after execution. More...
virtual void	preRun ()
	Optional implementation-specific setup function, called right before execution. More...
virtual void	reconfigure (MoveBaseFlexConfig &_cfg)
	Optional implementaiton-specific configuration function. More...
virtual bool	start ()
virtual void	stop ()
boost::cv_status	waitForStateUpdate (boost::chrono::microseconds const &duration)
virtual	~AbstractExecutionBase ()

Protected Member Functions
virtual void	run ()

Protected Attributes
bool	cancel_
	flag for canceling controlling More...
boost::condition_variable	condition_
	condition variable to wake up control thread More...
std::string	message_
	the last received plugin execution message More...
std::string	name_
	the plugin name; not the plugin type! More...
uint32_t	outcome_
	the last received plugin execution outcome More...
boost::thread	thread_
	the controlling thread object More...

Detailed Description

Base class for running concurrent navigation tasks.

The class uses a dedicated thread to run potentially long-lasting jobs. The user can use waitForStateUpdate to get notification about the progress of the said job.

Definition at line 57 of file abstract_execution_base.h.

Constructor & Destructor Documentation

AbstractExecutionBase()

mbf_abstract_nav::AbstractExecutionBase::AbstractExecutionBase

(

const std::string &

name

)

Definition at line 43 of file src/abstract_execution_base.cpp.

~AbstractExecutionBase()

mbf_abstract_nav::AbstractExecutionBase::~AbstractExecutionBase ( )

virtual

Definition at line 47 of file src/abstract_execution_base.cpp.

Member Function Documentation

cancel()

virtual bool mbf_abstract_nav::AbstractExecutionBase::cancel ( )

inlinevirtual

Cancel the plugin execution.

Returns

true, if the plugin tries / tried to cancel the computation.

Reimplemented in mbf_abstract_nav::AbstractPlannerExecution, mbf_abstract_nav::AbstractControllerExecution, mbf_abstract_nav::AbstractRecoveryExecution, and DummyExecutionBase.

Definition at line 72 of file abstract_execution_base.h.

getMessage()

const std::string & mbf_abstract_nav::AbstractExecutionBase::getMessage

(

)

const

Gets the current plugin execution message.

Definition at line 94 of file src/abstract_execution_base.cpp.

getName()

const std::string & mbf_abstract_nav::AbstractExecutionBase::getName

(

)

const

Returns the name of the corresponding plugin.

Definition at line 99 of file src/abstract_execution_base.cpp.

getOutcome()

uint32_t mbf_abstract_nav::AbstractExecutionBase::getOutcome

(

)

const

Gets the current plugin execution outcome.

Definition at line 89 of file src/abstract_execution_base.cpp.

join()

void mbf_abstract_nav::AbstractExecutionBase::join

(

)

Definition at line 76 of file src/abstract_execution_base.cpp.

postRun()

virtual void mbf_abstract_nav::AbstractExecutionBase::postRun ( )

inlinevirtual

Optional implementation-specific cleanup function, called right after execution.

Definition at line 104 of file abstract_execution_base.h.

preRun()

virtual void mbf_abstract_nav::AbstractExecutionBase::preRun ( )

inlinevirtual

Optional implementation-specific setup function, called right before execution.

Definition at line 99 of file abstract_execution_base.h.

reconfigure()

virtual void mbf_abstract_nav::AbstractExecutionBase::reconfigure ( MoveBaseFlexConfig &  _cfg )

inlinevirtual

Optional implementaiton-specific configuration function.

Definition at line 109 of file abstract_execution_base.h.

run()

virtual void mbf_abstract_nav::AbstractExecutionBase::run ( )

inlineprotectedvirtual

Reimplemented in mbf_abstract_nav::AbstractControllerExecution, mbf_abstract_nav::AbstractPlannerExecution, mbf_abstract_nav::AbstractRecoveryExecution, and DummyExecutionBase.

Definition at line 114 of file abstract_execution_base.h.

start()

bool mbf_abstract_nav::AbstractExecutionBase::start ( )

virtual

Reimplemented in mbf_abstract_nav::AbstractControllerExecution.

Definition at line 57 of file src/abstract_execution_base.cpp.

stop()

void mbf_abstract_nav::AbstractExecutionBase::stop ( )

virtual

Definition at line 70 of file src/abstract_execution_base.cpp.

waitForStateUpdate()

boost::cv_status mbf_abstract_nav::AbstractExecutionBase::waitForStateUpdate

(

boost::chrono::microseconds const &

duration

)

Definition at line 82 of file src/abstract_execution_base.cpp.

Member Data Documentation

cancel_

bool mbf_abstract_nav::AbstractExecutionBase::cancel_

protected

flag for canceling controlling

Definition at line 123 of file abstract_execution_base.h.

condition_

boost::condition_variable mbf_abstract_nav::AbstractExecutionBase::condition_

protected

condition variable to wake up control thread

Definition at line 114 of file abstract_execution_base.h.

message_

std::string mbf_abstract_nav::AbstractExecutionBase::message_

protected

the last received plugin execution message

Definition at line 129 of file abstract_execution_base.h.

name_

std::string mbf_abstract_nav::AbstractExecutionBase::name_

protected

the plugin name; not the plugin type!

Definition at line 132 of file abstract_execution_base.h.

outcome_

uint32_t mbf_abstract_nav::AbstractExecutionBase::outcome_

protected

the last received plugin execution outcome

Definition at line 126 of file abstract_execution_base.h.

thread_

boost::thread mbf_abstract_nav::AbstractExecutionBase::thread_

protected

the controlling thread object

Definition at line 120 of file abstract_execution_base.h.

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

• abstract_execution_base.h
• src/abstract_execution_base.cpp