Commander Class Reference

#include <command.h>

List of all members.

Public Member Functions
art_msgs::Order	command (const art_msgs::NavigatorState &cur_navstate)
	Commander (int verbosity, double limit, Graph *_graph, Mission *_mission, const ZonePerimeterList &_zones)
	~Commander ()
Private Member Functions
CmdrEvent	current_event (void)
bool	next_checkpoint (void)
art_msgs::Order	prepare_order (art_msgs::Behavior::_value_type behavior)
bool	replan_route ()
void	set_checkpoint_goals (void)
Private Attributes
Blockages *	blockages
ElementID	current_way
CmdrFSM *	fsm
WayPointNode	goal
WayPointNode	goal2
Graph *	graph
Mission *	mission
const art_msgs::NavigatorState *	navstate
art_msgs::Order	order
int	replan_num
Path *	route
float	speedlimit
int	verbose
ZonePerimeterList	zones
Friends
class	CmdrFSM

---

Detailed Description

Definition at line 29 of file command.h.

---

Constructor & Destructor Documentation

Commander::Commander	(	int	verbosity,
		double	limit,
		Graph *	_graph,
		Mission *	_mission,
		const ZonePerimeterList &	_zones
	)

Definition at line 17 of file command.cc.

Commander::~Commander

(

)

Definition at line 34 of file command.cc.

---

Member Function Documentation

art_msgs::Order Commander::command

(

const art_msgs::NavigatorState &

_navstate

)

main command entry point -- called once per cycle

Parameters:

_navstate

has current Navigator state

Returns:

next Navigator order, finished when behavior is DONE.

Definition at line 48 of file command.cc.

CmdrEvent Commander::current_event

(

void

)

[private]

bool Commander::next_checkpoint

(

void

)

[private]

Definition at line 92 of file command.cc.

art_msgs::Order Commander::prepare_order

(

art_msgs::Behavior::_value_type

behavior

)

[private]

Definition at line 114 of file command.cc.

bool Commander::replan_route

(

)

[private]

Definition at line 215 of file command.cc.

void Commander::set_checkpoint_goals

(

void

)

[private]

Definition at line 309 of file command.cc.

---

Friends And Related Function Documentation

friend class CmdrFSM [friend]

Definition at line 31 of file command.h.

---

Member Data Documentation

Blockages* Commander::blockages [private]

Definition at line 48 of file command.h.

ElementID Commander::current_way [private]

Definition at line 50 of file command.h.

CmdrFSM* Commander::fsm [private]

Definition at line 43 of file command.h.

WayPointNode Commander::goal [private]

Definition at line 54 of file command.h.

WayPointNode Commander::goal2 [private]

Definition at line 55 of file command.h.

Graph* Commander::graph [private]

Definition at line 45 of file command.h.

Mission* Commander::mission [private]

Definition at line 46 of file command.h.

const art_msgs::NavigatorState* Commander::navstate [private]

Definition at line 51 of file command.h.

art_msgs::Order Commander::order [private]

Definition at line 52 of file command.h.

int Commander::replan_num [private]

Definition at line 62 of file command.h.

Path* Commander::route [private]

Definition at line 59 of file command.h.

float Commander::speedlimit [private]

Definition at line 61 of file command.h.

int Commander::verbose [private]

Definition at line 41 of file command.h.

ZonePerimeterList Commander::zones [private]

Definition at line 57 of file command.h.

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

• command.h
• command.cc