#include <topological_move_base_action_layer.h>

Public Types
typedef actionlib::SimpleActionClient < move_base_msgs::MoveBaseAction >	MoveBaseClient
Public Member Functions
void	addAction (const std::string &action_name)
void	spin ()
	TopologicalMoveBaseActionLayer (const std::string &map_file)
	TopologicalMoveBaseActionLayer (TopologicalMap &tm)
Protected Member Functions
virtual void	moveBaseActiveCB ()
virtual void	moveBaseDoneCB (const actionlib::SimpleClientGoalState &state, const move_base_msgs::MoveBaseResultConstPtr &result)
virtual void	moveBaseFeedbackCB (const move_base_msgs::MoveBaseFeedbackConstPtr &feedback)
Private Member Functions
void	moveToLabel (const std::string &connection_label)
Private Attributes
ros::CallbackQueue	actions_cb_queue_
mdm_library::ActionLayer	al_
MoveBaseClient	move_base_client_
ros::CallbackQueue	predicates_cb_queue_
TopologicalActionManager	tam_

Detailed Description

Assumes that the map frame id is at /map (TODO: configurable)

Definition at line 47 of file topological_move_base_action_layer.h.

Member Typedef Documentation

typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> topological_tools::TopologicalMoveBaseActionLayer::MoveBaseClient

Definition at line 50 of file topological_move_base_action_layer.h.

Constructor & Destructor Documentation

TopologicalMoveBaseActionLayer::TopologicalMoveBaseActionLayer ( const std::string & map_file )

TODO: This Action Layer should wait for the PM to come up as well. This can be removed when the predicate update service is implemented.

Definition at line 52 of file topological_move_base_action_layer.cpp.

TopologicalMoveBaseActionLayer::TopologicalMoveBaseActionLayer ( TopologicalMap & tm )

TODO: This Action Layer should wait for the PM to come up as well. This can be removed when the predicate update service is implemented.

Definition at line 36 of file topological_move_base_action_layer.cpp.

Member Function Documentation

void TopologicalMoveBaseActionLayer::addAction ( const std::string & action_name )

Definition at line 69 of file topological_move_base_action_layer.cpp.

virtual void topological_tools::TopologicalMoveBaseActionLayer::moveBaseActiveCB ( ) [inline, protected, virtual]

Definition at line 61 of file topological_move_base_action_layer.h.

virtual void topological_tools::TopologicalMoveBaseActionLayer::moveBaseDoneCB	(	const actionlib::SimpleClientGoalState &	state,
		const move_base_msgs::MoveBaseResultConstPtr &	result
	)		`[inline, protected, virtual]`

Definition at line 59 of file topological_move_base_action_layer.h.

virtual void topological_tools::TopologicalMoveBaseActionLayer::moveBaseFeedbackCB ( const move_base_msgs::MoveBaseFeedbackConstPtr & feedback ) [inline, protected, virtual]

Definition at line 62 of file topological_move_base_action_layer.h.

void TopologicalMoveBaseActionLayer::moveToLabel ( const std::string & connection_label ) [private]

We can't wait the for result because this is single-threaded, and we might want to change the goal before the task finishes.

Definition at line 77 of file topological_move_base_action_layer.cpp.

void TopologicalMoveBaseActionLayer::spin ( )

Definition at line 97 of file topological_move_base_action_layer.cpp.