Public Types
typedef boost::shared_ptr < ::mbf_abstract_core::AbstractController >	Ptr
Public Member Functions
virtual bool	cancel ()=0
	Requests the planner to cancel, e.g. if it takes too much time.
virtual uint32_t	computeVelocityCommands (const geometry_msgs::PoseStamped &pose, const geometry_msgs::TwistStamped &velocity, geometry_msgs::TwistStamped &cmd_vel, std::string &message)=0
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.
virtual bool	isGoalReached (double dist_tolerance, double angle_tolerance)=0
	Check if the goal pose has been achieved by the local planner.
virtual bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &plan)=0
	Set the plan that the local planner is following.
virtual	~AbstractController ()
	Destructor.
Protected Member Functions
	AbstractController ()
	Constructor.

Detailed Description

Definition at line 51 of file abstract_controller.h.

Member Typedef Documentation

Definition at line 55 of file abstract_controller.h.

virtual mbf_abstract_core::AbstractController::~AbstractController ( ) [inline, virtual]

Destructor.

Definition at line 60 of file abstract_controller.h.

mbf_abstract_core::AbstractController::AbstractController ( ) [inline, protected]

Constructor.

Definition at line 119 of file abstract_controller.h.

virtual bool mbf_abstract_core::AbstractController::cancel ( ) [pure virtual]

Requests the planner to cancel, e.g. if it takes too much time.

Returns:: True if a cancel has been successfully requested, false if not implemented.

virtual uint32_t mbf_abstract_core::AbstractController::computeVelocityCommands	(	const geometry_msgs::PoseStamped &	pose,
		const geometry_msgs::TwistStamped &	velocity,
		geometry_msgs::TwistStamped &	cmd_vel,
		std::string &	message
	)		`[pure virtual]`

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters:

pose	The current pose of the robot.
velocity	The current velocity of the robot.
cmd_vel	Will be filled with the velocity command to be passed to the robot base.
message	Optional more detailed outcome as a string

Returns:: Result code as described on ExePath action result: SUCCESS = 0 1..9 are reserved as plugin specific non-error results FAILURE = 100 Unspecified failure, only used for old, non-mfb_core based plugins CANCELED = 101 NO_VALID_CMD = 102 PAT_EXCEEDED = 103 COLLISION = 104 OSCILLATION = 105 ROBOT_STUCK = 106 MISSED_GOAL = 107 MISSED_PATH = 108 BLOCKED_PATH = 109 INVALID_PATH = 110 TF_ERROR = 111 NOT_INITIALIZED = 112 INVALID_PLUGIN = 113 INTERNAL_ERROR = 114 121..149 are reserved as plugin specific errors

virtual bool mbf_abstract_core::AbstractController::isGoalReached	(	double	dist_tolerance,
		double	angle_tolerance
	)		`[pure virtual]`

Check if the goal pose has been achieved by the local planner.

Parameters:

angle_tolerance	The angle tolerance in which the current pose will be partly accepted as reached goal
dist_tolerance	The distance tolerance in which the current pose will be partly accepted as reached goal

virtual bool mbf_abstract_core::AbstractController::setPlan ( const std::vector< geometry_msgs::PoseStamped > & plan ) [pure virtual]

Set the plan that the local planner is following.

Parameters:

plan	The plan to pass to the local planner

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