SegbotLogicalNavigator Class Reference

Inheritance diagram for SegbotLogicalNavigator:

List of all members.

Public Member Functions
bool	execute (bwi_planning_common::PlannerInterface::Request &req, bwi_planning_common::PlannerInterface::Response &res)
	SegbotLogicalNavigator ()
Protected Member Functions
bool	approachDoor (const std::string &door_name, std::vector< PlannerAtom > &observations, std::string &error_message, bool gothrough=false)
bool	approachObject (const std::string &object_name, std::vector< PlannerAtom > &observations, std::string &error_message)
bool	executeNavigationGoal (const geometry_msgs::PoseStamped &pose)
void	odometryHandler (const nav_msgs::Odometry::ConstPtr &odom)
bool	senseDoor (const std::string &door_name, std::vector< PlannerAtom > &observations, std::string &error_message)
void	senseState (std::vector< PlannerAtom > &observations, size_t door_idx=NO_DOOR_IDX)
Protected Attributes
double	door_proximity_distance_
boost::shared_ptr < message_filters::Subscriber < nav_msgs::Odometry > >	odom_subscriber_
boost::shared_ptr < actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction > >	robot_controller_
float	robot_x_
float	robot_y_
float	robot_yaw_
ros::ServiceServer	service_
boost::shared_ptr < tf::TransformListener >	tf_
boost::shared_ptr < tf::MessageFilter < nav_msgs::Odometry > >	tf_filter_

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Detailed Description

Definition at line 55 of file segbot_logical_navigator.cpp.

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Constructor & Destructor Documentation

SegbotLogicalNavigator::SegbotLogicalNavigator

(

)

Definition at line 100 of file segbot_logical_navigator.cpp.

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Member Function Documentation

bool SegbotLogicalNavigator::approachDoor	(	const std::string &	door_name,
		std::vector< PlannerAtom > &	observations,
		std::string &	error_message,
		bool	gothrough = false
	)		[protected]

Definition at line 210 of file segbot_logical_navigator.cpp.

bool SegbotLogicalNavigator::approachObject	(	const std::string &	object_name,
		std::vector< PlannerAtom > &	observations,
		std::string &	error_message
	)		[protected]

Definition at line 256 of file segbot_logical_navigator.cpp.

bool SegbotLogicalNavigator::execute	(	bwi_planning_common::PlannerInterface::Request &	req,
		bwi_planning_common::PlannerInterface::Response &	res
	)

Definition at line 306 of file segbot_logical_navigator.cpp.

bool SegbotLogicalNavigator::executeNavigationGoal

(

const geometry_msgs::PoseStamped &

pose

)

[protected]

Definition at line 189 of file segbot_logical_navigator.cpp.

void SegbotLogicalNavigator::odometryHandler

(

const nav_msgs::Odometry::ConstPtr &

odom

)

[protected]

Definition at line 199 of file segbot_logical_navigator.cpp.

bool SegbotLogicalNavigator::senseDoor	(	const std::string &	door_name,
		std::vector< PlannerAtom > &	observations,
		std::string &	error_message
	)		[protected]

Definition at line 285 of file segbot_logical_navigator.cpp.

void SegbotLogicalNavigator::senseState	(	std::vector< PlannerAtom > &	observations,
		size_t	door_idx = NO_DOOR_IDX
	)		[protected]

Definition at line 125 of file segbot_logical_navigator.cpp.

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Member Data Documentation

double SegbotLogicalNavigator::door_proximity_distance_ [protected]

Definition at line 86 of file segbot_logical_navigator.cpp.

boost::shared_ptr<message_filters::Subscriber<nav_msgs::Odometry> > SegbotLogicalNavigator::odom_subscriber_ [protected]

Definition at line 96 of file segbot_logical_navigator.cpp.

boost::shared_ptr< actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> > SegbotLogicalNavigator::robot_controller_ [protected]

Definition at line 91 of file segbot_logical_navigator.cpp.

float SegbotLogicalNavigator::robot_x_ [protected]

Definition at line 82 of file segbot_logical_navigator.cpp.

float SegbotLogicalNavigator::robot_y_ [protected]

Definition at line 83 of file segbot_logical_navigator.cpp.

float SegbotLogicalNavigator::robot_yaw_ [protected]

Definition at line 84 of file segbot_logical_navigator.cpp.

ros::ServiceServer SegbotLogicalNavigator::service_ [protected]

Definition at line 88 of file segbot_logical_navigator.cpp.

boost::shared_ptr<tf::TransformListener> SegbotLogicalNavigator::tf_ [protected]

Definition at line 93 of file segbot_logical_navigator.cpp.

boost::shared_ptr<tf::MessageFilter<nav_msgs::Odometry> > SegbotLogicalNavigator::tf_filter_ [protected]

Definition at line 94 of file segbot_logical_navigator.cpp.

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

• segbot_logical_navigator.cpp