Public Member Functions | Public Attributes | Private Attributes
Navigator Class Reference

#include <navigator_internal.h>

List of all members.

Public Member Functions

void configure ()
pilot_command_t navigate (void)
 Navigator (nav_msgs::Odometry *odom_msg)
void reduce_speed_with_min (pilot_command_t &pcmd, float new_speed)
void trace_controller (const char *name, pilot_command_t &pcmd)
 ~Navigator ()

Public Attributes

Config config_
Coursecourse
nav_msgs::Odometry estimate
Estopestop
art_msgs::NavigatorState navdata
Obstacleobstacle
nav_msgs::Odometry * odometry
art_msgs::Order order
PolyOpspops

Private Attributes

int verbose

Detailed Description

Definition at line 64 of file navigator_internal.h.


Constructor & Destructor Documentation

Navigator::Navigator ( nav_msgs::Odometry *  odom_msg)

Main ART navigator class.

The Navigator class instantiates some infrastructure and the top-level (Estop) controller. Then, on each cycle it runs the Estop controller, which indirectly invokes other controllers when appropriate.

Todo:
Add ROS-style obstacle detection.

Definition at line 31 of file navigator.cc.

Definition at line 57 of file navigator.cc.


Member Function Documentation

Configure parameters

Definition at line 94 of file navigator.cc.

Main navigator entry point -- called once every driver cycle

The order contains a behavior which affects the navigator state for this cycle.

Returns:
a pilot_command_t with control output for this cycle.

Definition at line 75 of file navigator.cc.

void Navigator::reduce_speed_with_min ( pilot_command_t pcmd,
float  new_speed 
) [inline]

Definition at line 92 of file navigator_internal.h.

void Navigator::trace_controller ( const char *  name,
pilot_command_t pcmd 
) [inline]

Definition at line 102 of file navigator_internal.h.


Member Data Documentation

Definition at line 89 of file navigator_internal.h.

Definition at line 70 of file navigator_internal.h.

nav_msgs::Odometry Navigator::estimate

Definition at line 79 of file navigator_internal.h.

Definition at line 74 of file navigator_internal.h.

Definition at line 78 of file navigator_internal.h.

Definition at line 71 of file navigator_internal.h.

nav_msgs::Odometry* Navigator::odometry

Definition at line 80 of file navigator_internal.h.

Definition at line 77 of file navigator_internal.h.

Definition at line 69 of file navigator_internal.h.

int Navigator::verbose [private]

Definition at line 110 of file navigator_internal.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Properties Friends Defines


art_nav
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:42:11