Class ClAutoware

Defined in File cl_autoware.hpp

Inheritance Relationships

Base Type

public smacc2::ISmaccClient

Class Documentation

class ClAutoware : public smacc2::ISmaccClient

Public Functions

template<typename TOrthogonal, typename TSourceObject> inline void onOrthogonalAllocation()

inline void onInitialize() override

inline bool checkGoalReached()

inline void onNdtPoseReceived(const geometry_msgs::msg::PoseWithCovarianceStamped &msg)

inline void publishGoalPose(const geometry_msgs::msg::PoseStamped &msg)

inline void publishInitialPoseEstimation(const geometry_msgs::msg::PoseWithCovarianceStamped &msg)

Public Members

smacc2::components::CpTopicPublisher<geometry_msgs::msg::PoseWithCovarianceStamped> *cppubLocation_

smacc2::components::CpTopicPublisher<geometry_msgs::msg::PoseStamped> *cpppubGoalPose_

std::optional<geometry_msgs::msg::PoseWithCovarianceStamped> lastPose_

std::optional<geometry_msgs::msg::PoseStamped> lastGoal_

double goalToleranceMeters_ = 3.5

std::function<void(const geometry_msgs::msg::PoseWithCovarianceStamped&)> postEvAutoLocalized_

std::function<void()> postEvGoalReached_