Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
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:
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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

◆ start()

bool mbf_abstract_nav::AbstractExecutionBase::start ( )
virtual

◆ 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.


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


mbf_abstract_nav
Author(s): Sebastian Pütz
autogenerated on Wed Mar 2 2022 00:33:47