controller_action.h
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1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
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33  * controller_action.h
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35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
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39  */
40 
41 #ifndef MBF_ABSTRACT_NAV__CONTROLLER_ACTION_H_
42 #define MBF_ABSTRACT_NAV__CONTROLLER_ACTION_H_
43 
45 
46 #include <mbf_msgs/ExePathAction.h>
48 
49 #include "mbf_abstract_nav/abstract_action_base.hpp"
51 
52 namespace mbf_abstract_nav
53 {
54 
56  public AbstractActionBase<mbf_msgs::ExePathAction, AbstractControllerExecution>
57 {
58  public:
59 
61 
62  ControllerAction(const std::string &name,
63  const mbf_utility::RobotInformation &robot_info);
64 
71  void start(
72  GoalHandle &goal_handle,
73  typename AbstractControllerExecution::Ptr execution_ptr
74  );
75 
76  void runImpl(GoalHandle &goal_handle, AbstractControllerExecution& execution);
77 
78 protected:
80  GoalHandle &goal_handle,
81  uint32_t outcome, const std::string &message,
82  const geometry_msgs::TwistStamped &current_twist);
83 
90  void fillExePathResult(
91  uint32_t outcome, const std::string &message,
92  mbf_msgs::ExePathResult &result);
93 
94  boost::mutex goal_mtx_;
95  geometry_msgs::PoseStamped robot_pose_;
96  geometry_msgs::PoseStamped goal_pose_;
97 
98 };
99 }
100 
101 
102 
103 #endif //MBF_ABSTRACT_NAV__CONTROLLER_ACTION_H_
mbf_abstract_nav::ControllerAction::goal_mtx_
boost::mutex goal_mtx_
lock goal handle for updating it while running
Definition: controller_action.h:94
boost::shared_ptr
mbf_utility::RobotInformation
mbf_abstract_nav::ControllerAction::goal_pose_
geometry_msgs::PoseStamped goal_pose_
Current goal pose.
Definition: controller_action.h:96
mbf_abstract_nav::ControllerAction::fillExePathResult
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.
Definition: controller_action.cpp:363
mbf_abstract_nav
Definition: abstract_controller_execution.h:58
mbf_abstract_nav::ControllerAction::runImpl
void runImpl(GoalHandle &goal_handle, AbstractControllerExecution &execution)
Definition: controller_action.cpp:101
mbf_abstract_nav::ControllerAction::publishExePathFeedback
void publishExePathFeedback(GoalHandle &goal_handle, uint32_t outcome, const std::string &message, const geometry_msgs::TwistStamped &current_twist)
Definition: controller_action.cpp:344
mbf_abstract_nav::ControllerAction::robot_pose_
geometry_msgs::PoseStamped robot_pose_
Current robot pose.
Definition: controller_action.h:95
mbf_abstract_nav::ControllerAction::Ptr
boost::shared_ptr< ControllerAction > Ptr
Definition: controller_action.h:60
abstract_controller_execution.h
action_server.h
robot_information.h
mbf_abstract_nav::ControllerAction::start
void start(GoalHandle &goal_handle, typename AbstractControllerExecution::Ptr execution_ptr)
Start controller action. Override abstract action version to allow updating current plan without stop...
Definition: controller_action.cpp:53
mbf_abstract_nav::ControllerAction::ControllerAction
ControllerAction(const std::string &name, const mbf_utility::RobotInformation &robot_info)
Definition: controller_action.cpp:46
mbf_abstract_nav::ControllerAction
Definition: controller_action.h:55
mbf_abstract_nav::AbstractControllerExecution
The AbstractControllerExecution class loads and binds the controller plugin. It contains a thread run...
Definition: abstract_controller_execution.h:75


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