Public Member Functions | Private Attributes
CommanderNode Class Reference

Commander node class. More...

List of all members.

Public Member Functions

bool build_graph ()
 CommanderNode ()
bool parse_args (int argc, char **argv)
void print_usage (int argc, char **argv)
void processNavState (const art_msgs::NavigatorState::ConstPtr &nst)
void putOrder (const art_msgs::Order &order)
bool setup (ros::NodeHandle node)
bool spin ()
bool wait_for_input ()
 ~CommanderNode ()

Private Attributes

std::string frame_id_
 frame ID of map (default "/map")
Graphgraph_
bool load_mission_
MDFmdf_
std::string mdf_name_
Missionmission_
std::string mission_file_
ros::Publisher nav_cmd_pub_
ros::Subscriber nav_state_topic_
art_msgs::NavigatorState navState_
RNDFrndf_
std::string rndf_name_
double speed_limit_
bool startrun_
int verbose_
ZonePerimeterList zones_

Detailed Description

Commander node class.

Definition at line 76 of file ros_node.cc.


Constructor & Destructor Documentation

Definition at line 79 of file ros_node.cc.

Definition at line 130 of file ros_node.cc.


Member Function Documentation

Build road map graph

Definition at line 198 of file ros_node.cc.

bool CommanderNode::parse_args ( int  argc,
char **  argv 
) [inline]

Parse command line arguments

Definition at line 162 of file ros_node.cc.

void CommanderNode::print_usage ( int  argc,
char **  argv 
) [inline]

Print command argument usage message

Definition at line 323 of file ros_node.cc.

Process navigator state input

Definition at line 155 of file ros_node.cc.

void CommanderNode::putOrder ( const art_msgs::Order order) [inline]

Send order in command to navigator driver

Definition at line 256 of file ros_node.cc.

Set up ROS topics

Definition at line 141 of file ros_node.cc.

bool CommanderNode::spin ( ) [inline]

Main spin loop

Definition at line 268 of file ros_node.cc.

Wait for navigator state message to arrive

Definition at line 337 of file ros_node.cc.


Member Data Documentation

std::string CommanderNode::frame_id_ [private]

frame ID of map (default "/map")

Definition at line 364 of file ros_node.cc.

Definition at line 373 of file ros_node.cc.

Definition at line 358 of file ros_node.cc.

Definition at line 372 of file ros_node.cc.

std::string CommanderNode::mdf_name_ [private]

Definition at line 362 of file ros_node.cc.

Definition at line 374 of file ros_node.cc.

std::string CommanderNode::mission_file_ [private]

Definition at line 357 of file ros_node.cc.

Definition at line 368 of file ros_node.cc.

Definition at line 367 of file ros_node.cc.

Definition at line 369 of file ros_node.cc.

Definition at line 371 of file ros_node.cc.

std::string CommanderNode::rndf_name_ [private]

Definition at line 361 of file ros_node.cc.

double CommanderNode::speed_limit_ [private]

Definition at line 360 of file ros_node.cc.

Definition at line 359 of file ros_node.cc.

int CommanderNode::verbose_ [private]

Definition at line 363 of file ros_node.cc.

Definition at line 375 of file ros_node.cc.


The documentation for this class was generated from the following file:
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art_nav
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:42:11