#include <segbot_logical_translator.h>

Inheritance diagram for segbot_logical_translator::SegbotLogicalTranslator:

Public Member Functions
bool	getApproachPoint (size_t idx, const bwi::Point2f &current_location, bwi::Point2f &point, float &yaw)
size_t	getDoorIdx (const std::string &door_str) const
std::string	getDoorString (size_t idx) const
size_t	getLocationIdx (const bwi::Point2f &current_location)
size_t	getLocationIdx (const std::string &loc_str) const
std::string	getLocationString (size_t idx) const
size_t	getNumDoors () const
bool	getObjectApproachLocation (const std::string &object_name, geometry_msgs::Pose &pose)
bool	getThroughDoorPoint (size_t idx, const bwi::Point2f &current_location, bwi::Point2f &point, float &yaw)
bool	initialize ()
bool	isDoorOpen (size_t idx)
bool	isObjectApproachable (const std::string &object_name, const bwi::Point2f &current_location)
bool	isRobotBesideDoor (const bwi::Point2f &current_location, float yaw, float threshold, size_t idx)
bool	isRobotFacingDoor (const bwi::Point2f &current_location, float yaw, float threshold, size_t idx)
	SegbotLogicalTranslator ()
Protected Attributes
std::map< int, boost::shared_ptr < bwi_mapper::PathFinder > >	door_approachable_space_1_
std::map< int, boost::shared_ptr < bwi_mapper::PathFinder > >	door_approachable_space_2_
std::vector < bwi_planning_common::Door >	doors_
std::string	global_frame_id_
nav_msgs::OccupancyGrid	inflated_map_with_doors_
nav_msgs::MapMetaData	info_
bool	initialized_
std::vector< int32_t >	location_map_
std::vector< std::string >	locations_
ros::ServiceClient	make_plan_client_
bool	make_plan_client_initialized_
nav_msgs::OccupancyGrid	map_
nav_msgs::OccupancyGrid	map_with_doors_
boost::shared_ptr < ros::NodeHandle >	nh_
std::map< std::string, geometry_msgs::Pose >	object_approach_map_
std::map< std::string, boost::shared_ptr < bwi_mapper::PathFinder > >	object_approachable_space_

Detailed Description

Definition at line 53 of file segbot_logical_translator.h.

Constructor & Destructor Documentation

segbot_logical_translator::SegbotLogicalTranslator::SegbotLogicalTranslator ( )

Definition at line 53 of file segbot_logical_translator.cpp.

Member Function Documentation

bool segbot_logical_translator::SegbotLogicalTranslator::getApproachPoint	(	size_t	idx,
		const bwi::Point2f &	current_location,
		bwi::Point2f &	point,
		float &	yaw
	)

Definition at line 202 of file segbot_logical_translator.cpp.

size_t segbot_logical_translator::SegbotLogicalTranslator::getDoorIdx ( const std::string & door_str ) const [inline]

Definition at line 103 of file segbot_logical_translator.h.

std::string segbot_logical_translator::SegbotLogicalTranslator::getDoorString ( size_t idx ) const [inline]

Definition at line 118 of file segbot_logical_translator.h.

size_t segbot_logical_translator::SegbotLogicalTranslator::getLocationIdx ( const bwi::Point2f & current_location )

Definition at line 343 of file segbot_logical_translator.cpp.

size_t segbot_logical_translator::SegbotLogicalTranslator::getLocationIdx ( const std::string & loc_str ) const [inline]

Definition at line 93 of file segbot_logical_translator.h.

std::string segbot_logical_translator::SegbotLogicalTranslator::getLocationString ( size_t idx ) const [inline]

Definition at line 112 of file segbot_logical_translator.h.

size_t segbot_logical_translator::SegbotLogicalTranslator::getNumDoors ( ) const [inline]

Definition at line 124 of file segbot_logical_translator.h.

bool segbot_logical_translator::SegbotLogicalTranslator::getObjectApproachLocation	(	const std::string &	object_name,
		geometry_msgs::Pose &	pose
	)		`[inline]`

Definition at line 80 of file segbot_logical_translator.h.

bool segbot_logical_translator::SegbotLogicalTranslator::getThroughDoorPoint	(	size_t	idx,
		const bwi::Point2f &	current_location,
		bwi::Point2f &	point,
		float &	yaw
	)

Definition at line 267 of file segbot_logical_translator.cpp.

bool segbot_logical_translator::SegbotLogicalTranslator::initialize ( )

Definition at line 58 of file segbot_logical_translator.cpp.

bool segbot_logical_translator::SegbotLogicalTranslator::isDoorOpen ( size_t idx )

Definition at line 116 of file segbot_logical_translator.cpp.

bool segbot_logical_translator::SegbotLogicalTranslator::isObjectApproachable	(	const std::string &	object_name,
		const bwi::Point2f &	current_location
	)

Definition at line 247 of file segbot_logical_translator.cpp.

bool segbot_logical_translator::SegbotLogicalTranslator::isRobotBesideDoor	(	const bwi::Point2f &	current_location,
		float	yaw,
		float	threshold,
		size_t	idx
	)

Definition at line 325 of file segbot_logical_translator.cpp.

bool segbot_logical_translator::SegbotLogicalTranslator::isRobotFacingDoor	(	const bwi::Point2f &	current_location,
		float	yaw,
		float	threshold,
		size_t	idx
	)