Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
mbf_abstract_nav::ControllerAction Class Reference

#include <controller_action.h>

Inheritance diagram for mbf_abstract_nav::ControllerAction:
Inheritance graph

Public Types

typedef boost::shared_ptr< ControllerActionPtr

Public Member Functions

 ControllerAction (const std::string &name, const mbf_utility::RobotInformation &robot_info)
void runImpl (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...

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...

Detailed Description

Definition at line 55 of file controller_action.h.

Member Typedef Documentation

◆ Ptr

Definition at line 60 of file controller_action.h.

Constructor & Destructor Documentation

◆ ControllerAction()

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

Definition at line 46 of file controller_action.cpp.

Member Function Documentation

◆ fillExePathResult()

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

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

outcomeExePath action outcome
messageExePath action message
resultThe action result to fill

Definition at line 363 of file controller_action.cpp.

◆ publishExePathFeedback()

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

Definition at line 344 of file controller_action.cpp.

◆ runImpl()

void mbf_abstract_nav::ControllerAction::runImpl ( GoalHandle &  goal_handle,
AbstractControllerExecution execution 

Definition at line 101 of file controller_action.cpp.

◆ start()

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

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

goal_handleReference to the goal handle received on action execution callback.
execution_ptrPointer to the execution descriptor.

Definition at line 53 of file controller_action.cpp.

Member Data Documentation

◆ goal_mtx_

boost::mutex mbf_abstract_nav::ControllerAction::goal_mtx_

lock goal handle for updating it while running

Definition at line 94 of file controller_action.h.

◆ goal_pose_

geometry_msgs::PoseStamped mbf_abstract_nav::ControllerAction::goal_pose_

Current goal pose.

Definition at line 96 of file controller_action.h.

◆ robot_pose_

geometry_msgs::PoseStamped mbf_abstract_nav::ControllerAction::robot_pose_

Current robot pose.

Definition at line 95 of file controller_action.h.

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

Author(s): Sebastian Pütz
autogenerated on Wed Mar 2 2022 00:33:48