Inheritance diagram for AbstractControllerExecutionFixture:

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Public Member Functions
	AbstractControllerExecutionFixture ()

void	TearDown () override

Public Member Functions inherited from mbf_abstract_nav::AbstractControllerExecution
	AbstractControllerExecution (const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr, const ros::Publisher &vel_pub, const ros::Publisher &goal_pub, const TFPtr &tf_listener_ptr, const MoveBaseFlexConfig &config)
	Constructor. More...

virtual bool	cancel ()
	Cancel the controller execution. Normally called upon aborting the navigation. This calls the cancel method of the controller plugin. If the plugins returns true, it becomes responsible of stopping, and we will keep requesting velocity commands until it returns CANCELED. If it returns false (meaning cancel is not implemented, or that the controller defers handling it), MBF will set the cancel_ flag to true, and wait for the control loop to stop. More...

ros::Time	getLastPluginCallTime () const
	Returns the time of the last plugin call. More...

ControllerState	getState () const
	Return the current state of the controller execution. Thread communication safe. More...

geometry_msgs::TwistStamped	getVelocityCmd () const
	Returns the last velocity command calculated by the plugin. Set by setVelocityCmd method. Note that it doesn't need to be a valid command sent to the robot, as we report also failed calls to the plugin on controller action feedback. More...

bool	isMoving () const
	Returns whether the robot should normally move or not. True if the controller seems to work properly. More...

bool	isPatienceExceeded () const
	Checks whether the patience duration time has been exceeded, ot not. More...

void	reconfigure (const MoveBaseFlexConfig &config)
	Is called by the server thread to reconfigure the controller execution, if a user uses dynamic reconfigure to reconfigure the current state. More...

bool	setControllerFrequency (double frequency)
	Sets the controller frequency. More...

void	setNewPlan (const std::vector< geometry_msgs::PoseStamped > &plan, bool tolerance_from_action=false, double action_dist_tolerance=1.0, double action_angle_tolerance=3.1415)
	Sets a new plan to the controller execution. More...

virtual bool	start ()
	Starts the controller, a valid plan should be given in advance. More...

virtual	~AbstractControllerExecution ()
	Destructor. More...

Public Member Functions inherited from mbf_abstract_nav::AbstractExecutionBase
	AbstractExecutionBase (const std::string &name)

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 void	stop ()

boost::cv_status	waitForStateUpdate (boost::chrono::microseconds const &duration)

virtual	~AbstractExecutionBase ()

Additional Inherited Members
Public Types inherited from mbf_abstract_nav::AbstractControllerExecution
enum	ControllerState { INITIALIZED, STARTED, PLANNING, NO_PLAN, MAX_RETRIES, PAT_EXCEEDED, EMPTY_PLAN, INVALID_PLAN, NO_LOCAL_CMD, GOT_LOCAL_CMD, ARRIVED_GOAL, CANCELED, STOPPED, INTERNAL_ERROR }
	Internal states. More...

typedef boost::shared_ptr< AbstractControllerExecution >	Ptr

Static Public Attributes inherited from mbf_abstract_nav::AbstractControllerExecution
static const double	DEFAULT_CONTROLLER_FREQUENCY = 100.0

Protected Member Functions inherited from mbf_abstract_nav::AbstractControllerExecution
virtual uint32_t	computeVelocityCmd (const geometry_msgs::PoseStamped &pose, const geometry_msgs::TwistStamped &velocity, geometry_msgs::TwistStamped &vel_cmd, std::string &message)
	Request plugin for a new velocity command, given the current position, orientation, and velocity of the robot. We use this virtual method to give concrete implementations as move_base the chance to override it and do additional stuff, for example locking the costmap. More...

virtual void	run ()
	The main run method, a thread will execute this method. It contains the main controller execution loop. More...

virtual bool	safetyCheck ()
	Check if its safe to drive. This method gets called at every controller cycle, stopping the robot if its not. When overridden by child class, gives a chance to the specific execution implementation to stop the robot if it detects something wrong on the underlying map. More...

void	setVelocityCmd (const geometry_msgs::TwistStamped &vel_cmd_stamped)
	Sets the velocity command, to make it available for another thread. More...

Protected Attributes inherited from mbf_abstract_nav::AbstractControllerExecution
mbf_abstract_core::AbstractController::Ptr	controller_
	the local planer to calculate the velocity command More...

std::string	global_frame_
	the global frame the robot is controlling in. More...

ros::Time	last_call_time_
	The current cycle start time of the last cycle run. Will by updated each cycle. More...

ros::Time	last_valid_cmd_time_
	The time the controller responded with a success output (output < 10). More...

int	max_retries_
	The maximum number of retries. More...

ros::Duration	patience_
	The time / duration of patience, before changing the state. More...

std::string	plugin_name_
	the name of the loaded plugin More...

std::string	robot_frame_
	the frame of the robot, which will be used to determine its position. More...

ros::Time	start_time_
	The time the controller has been started. More...

const TFPtr &	tf_listener_ptr
	shared pointer to the shared tf listener More...

Protected Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
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...