RobotNavigator Class Reference

#include <RobotNavigator.h>

List of all members.

Public Member Functions
bool	receiveCommand (robot_navigator::SendCommand::Request &req, robot_navigator::SendCommand::Response &res)
void	receiveExploreGoal (const robot_navigator::ExploreGoal::ConstPtr &goal)
void	receiveGetMapGoal (const robot_navigator::GetFirstMapGoal::ConstPtr &goal)
void	receiveLocalizeGoal (const robot_navigator::LocalizeGoal::ConstPtr &goal)
void	receiveMoveGoal (const robot_navigator::MoveToPosition2DGoal::ConstPtr &goal)
	RobotNavigator ()
	~RobotNavigator ()
Private Member Functions
bool	correctGoalPose ()
bool	createPlan ()
bool	generateCommand ()
bool	getMap ()
bool	preparePlan ()
void	publishPlan ()
bool	setCurrentPosition ()
void	stop ()
Private Attributes
unsigned int	mCellInflationRadius
unsigned int	mCellRobotRadius
ros::Publisher	mCommandPublisher
ros::ServiceServer	mCommandServer
char	mCostLethal
char	mCostObstacle
double	mCurrentDirection
GridMap	mCurrentMap
double *	mCurrentPlan
double	mCurrentPositionX
double	mCurrentPositionY
double	mExplorationGoalDistance
boost::shared_ptr < ExplorationPlanner >	mExplorationPlanner
std::string	mExplorationStrategy
ExploreActionServer *	mExploreActionServer
std::string	mExploreActionTopic
GetMapActionServer *	mGetMapActionServer
std::string	mGetMapActionTopic
ros::ServiceClient	mGetMapClient
unsigned int	mGoalPoint
ros::Subscriber	mGoalSubscriber
bool	mHasNewMap
double	mInflationRadius
MapInflationTool	mInflationTool
bool	mIsPaused
bool	mIsStopped
LocalizeActionServer *	mLocalizeActionServer
std::string	mLocalizeActionTopic
std::string	mMapFrame
ros::Publisher	mMarkerPublisher
double	mMaxReplanningPeriod
double	mMinReplanningPeriod
MoveActionServer *	mMoveActionServer
std::string	mMoveActionTopic
double	mNavigationGoalAngle
double	mNavigationGoalDistance
double	mNavigationHomingDistance
PlanLoader *	mPlanLoader
ros::Publisher	mPlanPublisher
std::string	mRobotFrame
int	mRobotID
double	mRobotRadius
unsigned int	mStartPoint
int	mStatus
tf::TransformListener	mTfListener

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Detailed Description

Definition at line 25 of file RobotNavigator.h.

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Constructor & Destructor Documentation

RobotNavigator::RobotNavigator

(

)

Definition at line 16 of file RobotNavigator.cpp.

RobotNavigator::~RobotNavigator

(

)

Definition at line 94 of file RobotNavigator.cpp.

---

Member Function Documentation

bool RobotNavigator::correctGoalPose

(

)

[private]

Definition at line 355 of file RobotNavigator.cpp.

bool RobotNavigator::createPlan

(

)

[private]

Definition at line 195 of file RobotNavigator.cpp.

bool RobotNavigator::generateCommand

(

)

[private]

Definition at line 417 of file RobotNavigator.cpp.

bool RobotNavigator::getMap

(

)

[private]

Definition at line 103 of file RobotNavigator.cpp.

bool RobotNavigator::preparePlan

(

)

[private]

Definition at line 172 of file RobotNavigator.cpp.

void RobotNavigator::publishPlan

(

)

[private]

Definition at line 310 of file RobotNavigator.cpp.

bool RobotNavigator::receiveCommand	(	robot_navigator::SendCommand::Request &	req,
		robot_navigator::SendCommand::Response &	res
	)

Definition at line 137 of file RobotNavigator.cpp.

void RobotNavigator::receiveExploreGoal

(

const robot_navigator::ExploreGoal::ConstPtr &

goal

)

Definition at line 790 of file RobotNavigator.cpp.

void RobotNavigator::receiveGetMapGoal

(

const robot_navigator::GetFirstMapGoal::ConstPtr &

goal

)

Definition at line 489 of file RobotNavigator.cpp.

void RobotNavigator::receiveLocalizeGoal

(

const robot_navigator::LocalizeGoal::ConstPtr &

goal

)

Definition at line 580 of file RobotNavigator.cpp.

void RobotNavigator::receiveMoveGoal

(

const robot_navigator::MoveToPosition2DGoal::ConstPtr &

goal

)

Definition at line 634 of file RobotNavigator.cpp.

bool RobotNavigator::setCurrentPosition

(

)

[private]

Definition at line 919 of file RobotNavigator.cpp.

void RobotNavigator::stop

(

)

[private]

Definition at line 406 of file RobotNavigator.cpp.

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Member Data Documentation

unsigned int RobotNavigator::mCellInflationRadius [private]

Definition at line 91 of file RobotNavigator.h.

unsigned int RobotNavigator::mCellRobotRadius [private]

Definition at line 92 of file RobotNavigator.h.

ros::Publisher RobotNavigator::mCommandPublisher [private]

Definition at line 52 of file RobotNavigator.h.

ros::ServiceServer RobotNavigator::mCommandServer [private]

Definition at line 54 of file RobotNavigator.h.

char RobotNavigator::mCostLethal [private]

Definition at line 95 of file RobotNavigator.h.

char RobotNavigator::mCostObstacle [private]

Definition at line 94 of file RobotNavigator.h.

double RobotNavigator::mCurrentDirection [private]

Definition at line 78 of file RobotNavigator.h.

GridMap RobotNavigator::mCurrentMap [private]

Definition at line 86 of file RobotNavigator.h.

double* RobotNavigator::mCurrentPlan [private]

Definition at line 87 of file RobotNavigator.h.

double RobotNavigator::mCurrentPositionX [private]

Definition at line 79 of file RobotNavigator.h.

double RobotNavigator::mCurrentPositionY [private]

Definition at line 80 of file RobotNavigator.h.

double RobotNavigator::mExplorationGoalDistance [private]

Definition at line 100 of file RobotNavigator.h.

boost::shared_ptr<ExplorationPlanner> RobotNavigator::mExplorationPlanner [private]

Definition at line 85 of file RobotNavigator.h.

std::string RobotNavigator::mExplorationStrategy [private]

Definition at line 84 of file RobotNavigator.h.

ExploreActionServer* RobotNavigator::mExploreActionServer [private]

Definition at line 64 of file RobotNavigator.h.

std::string RobotNavigator::mExploreActionTopic [private]

Definition at line 59 of file RobotNavigator.h.

GetMapActionServer* RobotNavigator::mGetMapActionServer [private]

Definition at line 65 of file RobotNavigator.h.

std::string RobotNavigator::mGetMapActionTopic [private]

Definition at line 60 of file RobotNavigator.h.

ros::ServiceClient RobotNavigator::mGetMapClient [private]

Definition at line 49 of file RobotNavigator.h.

unsigned int RobotNavigator::mGoalPoint [private]

Definition at line 76 of file RobotNavigator.h.

ros::Subscriber RobotNavigator::mGoalSubscriber [private]

Definition at line 50 of file RobotNavigator.h.

bool RobotNavigator::mHasNewMap [private]

Definition at line 71 of file RobotNavigator.h.

double RobotNavigator::mInflationRadius [private]

Definition at line 89 of file RobotNavigator.h.

MapInflationTool RobotNavigator::mInflationTool [private]

Definition at line 83 of file RobotNavigator.h.

bool RobotNavigator::mIsPaused [private]

Definition at line 72 of file RobotNavigator.h.

bool RobotNavigator::mIsStopped [private]

Definition at line 73 of file RobotNavigator.h.

LocalizeActionServer* RobotNavigator::mLocalizeActionServer [private]

Definition at line 66 of file RobotNavigator.h.

std::string RobotNavigator::mLocalizeActionTopic [private]

Definition at line 61 of file RobotNavigator.h.

std::string RobotNavigator::mMapFrame [private]

Definition at line 56 of file RobotNavigator.h.

ros::Publisher RobotNavigator::mMarkerPublisher [private]

Definition at line 53 of file RobotNavigator.h.

double RobotNavigator::mMaxReplanningPeriod [private]

Definition at line 102 of file RobotNavigator.h.

double RobotNavigator::mMinReplanningPeriod [private]

Definition at line 101 of file RobotNavigator.h.

MoveActionServer* RobotNavigator::mMoveActionServer [private]

Definition at line 63 of file RobotNavigator.h.

std::string RobotNavigator::mMoveActionTopic [private]

Definition at line 58 of file RobotNavigator.h.

double RobotNavigator::mNavigationGoalAngle [private]

Definition at line 98 of file RobotNavigator.h.

double RobotNavigator::mNavigationGoalDistance [private]

Definition at line 97 of file RobotNavigator.h.

double RobotNavigator::mNavigationHomingDistance [private]

Definition at line 99 of file RobotNavigator.h.

PlanLoader* RobotNavigator::mPlanLoader [private]

Definition at line 68 of file RobotNavigator.h.

ros::Publisher RobotNavigator::mPlanPublisher [private]

Definition at line 51 of file RobotNavigator.h.

std::string RobotNavigator::mRobotFrame [private]

Definition at line 57 of file RobotNavigator.h.

int RobotNavigator::mRobotID [private]

Definition at line 75 of file RobotNavigator.h.

double RobotNavigator::mRobotRadius [private]

Definition at line 90 of file RobotNavigator.h.

unsigned int RobotNavigator::mStartPoint [private]

Definition at line 77 of file RobotNavigator.h.

int RobotNavigator::mStatus [private]

Definition at line 74 of file RobotNavigator.h.

tf::TransformListener RobotNavigator::mTfListener [private]

Definition at line 48 of file RobotNavigator.h.

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

• RobotNavigator.h
• RobotNavigator.cpp