multi_robot_router::RobotInfo Class Reference

#include <robot_info.h>

Inheritance diagram for multi_robot_router::RobotInfo:

Public Types
enum	Online { Online::inactive, Online::active, Online::fixed }

Public Member Functions
void	callback_odom (const nav_msgs::Odometry &msg)
bool	compareName (const std::shared_ptr< RobotInfo > data) const
Online	getOnlineStatus () const
Eigen::Vector3d	getPose () const
void	initTopics (ros::NodeHandle &n, bool robot_name_as_namespace)
float	radius () const
	RobotInfo ()
	RobotInfo (const tuw_multi_robot_msgs::RobotInfo &o)
	RobotInfo (const std::string &name)
void	updateInfo (const tuw_multi_robot_msgs::RobotInfo &info)
void	updateOnlineStatus (const float updateTime)

Static Public Member Functions
static size_t	findIdx (const std::vector< std::shared_ptr< RobotInfo > > &data, const std::string &name)
static std::vector< std::shared_ptr< RobotInfo > >::iterator	findObj (std::vector< std::shared_ptr< RobotInfo > > &data, const std::string &name)

Public Attributes
ros::Publisher	pubPaths_
ros::Publisher	pubRoute_
ros::Subscriber	subOdom_

Private Attributes
float	activeTime_
Online	online_

Detailed Description

Definition at line 53 of file robot_info.h.

Member Enumeration Documentation

Online

enum multi_robot_router::RobotInfo::Online

strong

Enumerator
inactive
active
fixed

Definition at line 75 of file robot_info.h.

Constructor & Destructor Documentation

RobotInfo() [1/3]

multi_robot_router::RobotInfo::RobotInfo ( )

inline

Definition at line 56 of file robot_info.h.

RobotInfo() [2/3]

multi_robot_router::RobotInfo::RobotInfo ( const tuw_multi_robot_msgs::RobotInfo &  o )

inline

Definition at line 62 of file robot_info.h.

RobotInfo() [3/3]

multi_robot_router::RobotInfo::RobotInfo ( const std::string &  name )

inline

Definition at line 68 of file robot_info.h.

Member Function Documentation

callback_odom()

void multi_robot_router::RobotInfo::callback_odom

(

const nav_msgs::Odometry &

msg

)

Definition at line 45 of file robot_info.cpp.

compareName()

bool multi_robot_router::RobotInfo::compareName

(

const std::shared_ptr< RobotInfo >

data

)

const

check if it crashes if the robot name holds no number

Definition at line 49 of file robot_info.cpp.

findIdx()

size_t multi_robot_router::RobotInfo::findIdx ( const std::vector< std::shared_ptr< RobotInfo > > &  data, const std::string &  name  )

static

returns the indes of the robot with a name

Returns

index or data.size() if no matching element was found

Definition at line 81 of file robot_info.cpp.

findObj()

std::vector< std::shared_ptr< RobotInfo > >::iterator multi_robot_router::RobotInfo::findObj ( std::vector< std::shared_ptr< RobotInfo > > &  data, const std::string &  name  )

static

returns a reference to the robot with a name

Returns

ref or data.end() if no matching element was found

Definition at line 88 of file robot_info.cpp.

getOnlineStatus()

RobotInfo::Online multi_robot_router::RobotInfo::getOnlineStatus

(

)

const

Definition at line 110 of file robot_info.cpp.

getPose()

Eigen::Vector3d multi_robot_router::RobotInfo::getPose

(

)

const

Definition at line 94 of file robot_info.cpp.

initTopics()

void multi_robot_router::RobotInfo::initTopics	(	ros::NodeHandle &	n,
		bool	robot_name_as_namespace
	)

crates subsribers and publisher using a given namespace

Parameters

n	node handler
robot_name_as_namespace	on true it will use the robots name as namespace prefix

Definition at line 55 of file robot_info.cpp.

radius()

float multi_robot_router::RobotInfo::radius

(

)

const

returns vehilce radius based on the robots shape a caching must be implemented for non circular shapes

Returns

radius

Definition at line 102 of file robot_info.cpp.

updateInfo()

void multi_robot_router::RobotInfo::updateInfo

(

const tuw_multi_robot_msgs::RobotInfo &

info

)

Definition at line 76 of file robot_info.cpp.

updateOnlineStatus()

void multi_robot_router::RobotInfo::updateOnlineStatus

(

const float

updateTime

)

Definition at line 114 of file robot_info.cpp.

Member Data Documentation

activeTime_

float multi_robot_router::RobotInfo::activeTime_

private

Definition at line 121 of file robot_info.h.

online_

Online multi_robot_router::RobotInfo::online_

private

Definition at line 120 of file robot_info.h.

pubPaths_

ros::Publisher multi_robot_router::RobotInfo::pubPaths_

Definition at line 116 of file robot_info.h.

pubRoute_

ros::Publisher multi_robot_router::RobotInfo::pubRoute_

Definition at line 117 of file robot_info.h.

subOdom_

ros::Subscriber multi_robot_router::RobotInfo::subOdom_

Definition at line 115 of file robot_info.h.

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

• robot_info.h
• robot_info.cpp