labust::mission::MissionExecution Class Reference

#include <missionExecution.hpp>

List of all members.

Public Member Functions
void	course_keeping_FA_state ()
void	course_keeping_UA_state ()
void	dynamic_postitioning_state ()
void	evaluatePrimitive (string primitiveString)
void	execute_primitive ()
void	go2point_FA_hdg_state ()
void	go2point_FA_state ()
void	go2point_UA_state ()
void	iso_state ()
	MissionExecution (ros::NodeHandle &nh)
void	onDataEventsContainer (const misc_msgs::DataEventsContainer::ConstPtr &data)
void	onEventString (const std_msgs::String::ConstPtr &msg)
void	onPrimitiveEndReset ()
void	onReceivePrimitive (const misc_msgs::SendPrimitive::ConstPtr &data)
void	onStateHat (const auv_msgs::NavSts::ConstPtr &data)
void	onTimeout (const ros::TimerEvent &timer)
void	path_following_state ()
void	pointer_state ()
void	requestPrimitive ()
void	setTimeout (double timeout)
Public Attributes
bool	checkEventFlag
labust::controller::PrimitiveManager	CM
vector< string >	eventsActive
bool	missionActive
int	nextPrimitive
ros::NodeHandle	nh_
auv_msgs::NED	oldPosition
map< string, double >	primitiveMap
vector< string >	primitiveStrContainer
map< string, string >	primitiveStringMap
ros::Publisher	pubEventString
ros::Publisher	pubRequestPrimitive
misc_msgs::SendPrimitive	receivedPrimitive
ros::ServiceClient	srvExprEval
auv_msgs::NavSts	state
ros::Subscriber	subDataEventsContainer
ros::Subscriber	subEventString
ros::Subscriber	subReceivePrimitive
ros::Subscriber	subStateHat
bool	timeoutActive
ros::Timer	timer

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Detailed Description

Definition at line 71 of file missionExecution.hpp.

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Constructor & Destructor Documentation

labust::mission::MissionExecution::MissionExecution

(

ros::NodeHandle &

nh

)

Subscribers

Publishers

Services

Define primitive parameters

TODO Automate primitive map creation.

Definition at line 187 of file missionExecution.hpp.

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Member Function Documentation

void labust::mission::MissionExecution::course_keeping_FA_state

(

)

Activate primitive timeout

Definition at line 325 of file missionExecution.hpp.

void labust::mission::MissionExecution::course_keeping_UA_state

(

)

Activate primitive timeout

Definition at line 334 of file missionExecution.hpp.

void labust::mission::MissionExecution::dynamic_postitioning_state

(

)

Evaluate primitive data with current values

Activate primitive timeout

Activate primitive

Definition at line 265 of file missionExecution.hpp.

void labust::mission::MissionExecution::evaluatePrimitive

(

string

primitiveString

)

Debug

Definition at line 230 of file missionExecution.hpp.

void labust::mission::MissionExecution::execute_primitive

(

)

Definition at line 260 of file missionExecution.hpp.

void labust::mission::MissionExecution::go2point_FA_hdg_state

(

)

Evaluate primitive data with current values

Activate primitive timeout

Activate primitive

Definition at line 280 of file missionExecution.hpp.

void labust::mission::MissionExecution::go2point_FA_state

(

)

Evaluate primitive data with current values

Activate primitive timeout

Activate primitive

Definition at line 297 of file missionExecution.hpp.

void labust::mission::MissionExecution::go2point_UA_state

(

)

Activate primitive timeout

Definition at line 314 of file missionExecution.hpp.

void labust::mission::MissionExecution::iso_state

(

)

void labust::mission::MissionExecution::onDataEventsContainer

(

const misc_msgs::DataEventsContainer::ConstPtr &

data

)

DataEventsContainer callback

If primitive has active events

Reset flag and counters

For each primitive event check if it is true

First true event has priority

Definition at line 381 of file missionExecution.hpp.

void labust::mission::MissionExecution::onEventString

(

const std_msgs::String::ConstPtr &

msg

)

EventString topic callback

Definition at line 447 of file missionExecution.hpp.

void labust::mission::MissionExecution::onPrimitiveEndReset

(

)

Reset timers and flags

Stop timeout timer

Reset execution flags

Definition at line 491 of file missionExecution.hpp.

void labust::mission::MissionExecution::onReceivePrimitive

(

const misc_msgs::SendPrimitive::ConstPtr &

data

)

ReceivePrimitive topic callback

Check if received primitive has active events

Call primitive

Definition at line 410 of file missionExecution.hpp.

void labust::mission::MissionExecution::onStateHat

(

const auv_msgs::NavSts::ConstPtr &

data

)

Definition at line 437 of file missionExecution.hpp.

void labust::mission::MissionExecution::onTimeout

(

const ros::TimerEvent &

timer

)

On timeout finish primitive execution

Definition at line 483 of file missionExecution.hpp.

void labust::mission::MissionExecution::path_following_state

(

)

void labust::mission::MissionExecution::pointer_state

(

)

void labust::mission::MissionExecution::requestPrimitive

(

)

Request new primitive

Definition at line 465 of file missionExecution.hpp.

void labust::mission::MissionExecution::setTimeout

(

double

timeout

)

Set primitive timeout

Definition at line 473 of file missionExecution.hpp.

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Member Data Documentation

bool labust::mission::MissionExecution::checkEventFlag

Execution flags

Definition at line 174 of file missionExecution.hpp.

labust::controller::PrimitiveManager labust::mission::MissionExecution::CM

Controller manager class

Definition at line 138 of file missionExecution.hpp.

vector<string> labust::mission::MissionExecution::eventsActive

Vectors

Definition at line 165 of file missionExecution.hpp.

bool labust::mission::MissionExecution::missionActive

Mission state flag

Definition at line 180 of file missionExecution.hpp.

int labust::mission::MissionExecution::nextPrimitive

Next primitive to request

Definition at line 177 of file missionExecution.hpp.

ros::NodeHandle labust::mission::MissionExecution::nh_

ROS Node handle

Definition at line 141 of file missionExecution.hpp.

auv_msgs::NED labust::mission::MissionExecution::oldPosition

Remember last primitive end point

Definition at line 159 of file missionExecution.hpp.

map<string, double> labust::mission::MissionExecution::primitiveMap

Map for storing last primitive floating point data

Definition at line 168 of file missionExecution.hpp.

vector<string> labust::mission::MissionExecution::primitiveStrContainer

Definition at line 165 of file missionExecution.hpp.

map<string, string> labust::mission::MissionExecution::primitiveStringMap

Map for storing last primitive string data

Definition at line 171 of file missionExecution.hpp.

ros::Publisher labust::mission::MissionExecution::pubEventString

Definition at line 147 of file missionExecution.hpp.

ros::Publisher labust::mission::MissionExecution::pubRequestPrimitive

Publishers

Definition at line 147 of file missionExecution.hpp.

misc_msgs::SendPrimitive labust::mission::MissionExecution::receivedPrimitive

Store last received primitive

Definition at line 162 of file missionExecution.hpp.

ros::ServiceClient labust::mission::MissionExecution::srvExprEval

Services

Definition at line 153 of file missionExecution.hpp.

auv_msgs::NavSts labust::mission::MissionExecution::state

stateHat container

Definition at line 156 of file missionExecution.hpp.

ros::Subscriber labust::mission::MissionExecution::subDataEventsContainer

Subscribers

Definition at line 150 of file missionExecution.hpp.

ros::Subscriber labust::mission::MissionExecution::subEventString

Definition at line 150 of file missionExecution.hpp.

ros::Subscriber labust::mission::MissionExecution::subReceivePrimitive

Definition at line 150 of file missionExecution.hpp.

ros::Subscriber labust::mission::MissionExecution::subStateHat

Definition at line 150 of file missionExecution.hpp.

bool labust::mission::MissionExecution::timeoutActive

Definition at line 174 of file missionExecution.hpp.

ros::Timer labust::mission::MissionExecution::timer

Timers

Definition at line 144 of file missionExecution.hpp.

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

• missionExecution.hpp