#include <move_base_topo.h>

Public Types
typedef actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	MoveBaseClient
Public Member Functions
void	executeCB (const topological_nav_msgs::MoveBaseTopoGoal::ConstPtr &goal)
void	localizationCB (const geometry_msgs::PoseStamped &l)
	MoveBaseTopo ()
geometry_msgs::PoseStamped	nodePoseOnGrid (unsigned n, unsigned g) const
void	roadmapCB (topological_nav_msgs::TopologicalRoadmap::ConstPtr roadmap)
double	shortestPathDistance (const geometry_msgs::Pose &p1)
Private Member Functions
unsigned	bestGrid (const WaypointVec &path) const
void	checkEdgeTimeouts (const ros::TimerEvent &e)
void	cleanup ()
nav_msgs::OccupancyGrid::ConstPtr	getGrid (const unsigned g) const
void	graphCB (topological_nav_msgs::TopologicalGraph::ConstPtr m)
void	gridUpdateCB (const std_msgs::String &m)
unsigned	lastWaypointOnGridIndex (const Path &plan, const std::string &global_frame)
unsigned	lastWaypointOnGridIndex (const WaypointVec &plan, const unsigned g) const
bool	makeRoadmapPlan (const topological_nav_msgs::MoveBaseTopoGoal::ConstPtr &goal, boost::optional< Path > &plan, std::string &error_string)
void	removeBlockedEdges (const std::list< BlockedEdge > &blocked_edges, Roadmap &roadmap)
bool	robotWithinTolerance (double tolerance_dist, unsigned node_id)
double	squareDist (const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2)
Private Attributes
actionlib::SimpleActionServer < topological_nav_msgs::MoveBaseTopoAction >	as_
double	blocked_edge_timeout_
std::list< BlockedEdge >	blocked_edges_
costmap_2d::Costmap2DROS	costmap_
boost::optional< unsigned >	current_grid_
ros::Timer	edge_watchdog_
bool	grid_switch_
ros::Subscriber	grid_update_sub_
mongo_roscpp::MessageCollection < nav_msgs::OccupancyGrid >	grids_
ros::Time	last_valid_plan_
ros::Subscriber	localization_sub_
ros::ServiceClient	make_plan_client_
MoveBaseClient	move_base_client_
boost::mutex	mutex_
double	next_waypoint_distance_
ros::Publisher	path_pub_
navfn::NavfnROS	planner_
double	planner_patience_
double	progress_check_frequency_
Roadmap	roadmap_
ros::Subscriber	roadmap_sub_
ros::ServiceClient	switch_grid_client_
tf::TransformListener	tf_
std::string	tf_prefix_
topological_map_2d::TopologicalMap	tmap_
ros::Subscriber	tmap_sub_

Detailed Description

Definition at line 82 of file move_base_topo.h.

Member Typedef Documentation

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> topological_roadmap::MoveBaseTopo::MoveBaseClient

Definition at line 92 of file move_base_topo.h.

Constructor & Destructor Documentation

topological_roadmap::MoveBaseTopo::MoveBaseTopo ( )

Definition at line 65 of file move_base_topo.cpp.

Member Function Documentation

unsigned topological_roadmap::MoveBaseTopo::bestGrid ( const WaypointVec & path ) const [private]

Definition at line 290 of file move_base_topo.cpp.

void topological_roadmap::MoveBaseTopo::checkEdgeTimeouts ( const ros::TimerEvent & e ) [private]

Definition at line 260 of file move_base_topo.cpp.

void topological_roadmap::MoveBaseTopo::cleanup ( ) [private]

Definition at line 115 of file move_base_topo.cpp.

void topological_roadmap::MoveBaseTopo::executeCB ( const topological_nav_msgs::MoveBaseTopoGoal::ConstPtr & goal )

Definition at line 317 of file move_base_topo.cpp.

nm::OccupancyGrid::ConstPtr topological_roadmap::MoveBaseTopo::getGrid ( const unsigned g ) const [private]

Definition at line 578 of file move_base_topo.cpp.

void topological_roadmap::MoveBaseTopo::graphCB ( topological_nav_msgs::TopologicalGraph::ConstPtr m ) [private]

Definition at line 109 of file move_base_topo.cpp.

void topological_roadmap::MoveBaseTopo::gridUpdateCB ( const std_msgs::String & m ) [private]

Definition at line 600 of file move_base_topo.cpp.

unsigned topological_roadmap::MoveBaseTopo::lastWaypointOnGridIndex	(	const Path &	plan,
		const std::string &	global_frame
	)		`[private]`

unsigned topological_roadmap::MoveBaseTopo::lastWaypointOnGridIndex	(	const WaypointVec &	plan,
		const unsigned	g
	)		const `[private]`

void topological_roadmap::MoveBaseTopo::localizationCB ( const geometry_msgs::PoseStamped & l )

Definition at line 558 of file move_base_topo.cpp.

bool topological_roadmap::MoveBaseTopo::makeRoadmapPlan	(	const topological_nav_msgs::MoveBaseTopoGoal::ConstPtr &	goal,
		boost::optional< Path > &	plan,
		std::string &	error_string
	)		`[private]`