#include <move_base_action.h>

Public Types
typedef actionlib::SimpleActionClient < mbf_msgs::ExePathAction >	ActionClientExePath
typedef actionlib::SimpleActionClient < mbf_msgs::GetPathAction >	ActionClientGetPath
	Action clients for the MoveBase action.
typedef actionlib::SimpleActionClient < mbf_msgs::RecoveryAction >	ActionClientRecovery
typedef actionlib::ActionServer < mbf_msgs::MoveBaseAction > ::GoalHandle	GoalHandle
Public Member Functions
void	cancel ()
	MoveBaseAction (const std::string &name, const RobotInformation &robot_info, const std::vector< std::string > &controllers)
void	reconfigure (mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level)
void	start (GoalHandle &goal_handle)
	~MoveBaseAction ()
Protected Types
enum	MoveBaseActionState { NONE, GET_PATH, EXE_PATH, RECOVERY, OSCILLATING, SUCCEEDED, CANCELED, FAILED }
Protected Member Functions
void	actionExePathActive ()
void	actionExePathDone (const actionlib::SimpleClientGoalState &state, const mbf_msgs::ExePathResultConstPtr &result)
void	actionExePathFeedback (const mbf_msgs::ExePathFeedbackConstPtr &feedback)
void	actionGetPathDone (const actionlib::SimpleClientGoalState &state, const mbf_msgs::GetPathResultConstPtr &result)
void	actionGetPathReplanningDone (const actionlib::SimpleClientGoalState &state, const mbf_msgs::GetPathResultConstPtr &result)
void	actionRecoveryDone (const actionlib::SimpleClientGoalState &state, const mbf_msgs::RecoveryResultConstPtr &result)
bool	attemptRecovery ()
Protected Attributes
ActionClientExePath	action_client_exe_path_
	Action client used by the move_base action.
ActionClientGetPath	action_client_get_path_
	Action client used by the move_base action.
ActionClientRecovery	action_client_recovery_
	Action client used by the move_base action.
MoveBaseActionState	action_state_
const std::vector< std::string > &	behaviors_
std::vector< std::string > ::iterator	current_recovery_behavior_
mbf_msgs::ExePathGoal	exe_path_goal_
mbf_msgs::GetPathGoal	get_path_goal_
GoalHandle	goal_handle_
geometry_msgs::PoseStamped	last_oscillation_pose_
ros::Time	last_oscillation_reset_
mbf_msgs::MoveBaseFeedback	move_base_feedback_
std::string	name_
double	oscillation_distance_
ros::Duration	oscillation_timeout_
ros::NodeHandle	private_nh_
std::vector< std::string >	recovery_behaviors_
bool	recovery_enabled_
mbf_msgs::RecoveryGoal	recovery_goal_
MoveBaseActionState	recovery_trigger_
bool	replanning_
boost::mutex	replanning_mtx_
ros::Rate	replanning_rate_
RobotInformation	robot_info_
geometry_msgs::PoseStamped	robot_pose_

Detailed Description

Definition at line 58 of file move_base_action.h.

Member Typedef Documentation

typedef actionlib::SimpleActionClient<mbf_msgs::ExePathAction> mbf_abstract_nav::MoveBaseAction::ActionClientExePath

Definition at line 64 of file move_base_action.h.

typedef actionlib::SimpleActionClient<mbf_msgs::GetPathAction> mbf_abstract_nav::MoveBaseAction::ActionClientGetPath

Action clients for the MoveBase action.

Definition at line 63 of file move_base_action.h.

typedef actionlib::SimpleActionClient<mbf_msgs::RecoveryAction> mbf_abstract_nav::MoveBaseAction::ActionClientRecovery

Definition at line 65 of file move_base_action.h.

typedef actionlib::ActionServer<mbf_msgs::MoveBaseAction>::GoalHandle mbf_abstract_nav::MoveBaseAction::GoalHandle

Definition at line 67 of file move_base_action.h.

Member Enumeration Documentation

enum mbf_abstract_nav::MoveBaseAction::MoveBaseActionState [protected]

Enumerator:

NONE
GET_PATH
EXE_PATH
RECOVERY
OSCILLATING
SUCCEEDED
CANCELED
FAILED

Definition at line 148 of file move_base_action.h.

Constructor & Destructor Documentation

mbf_abstract_nav::MoveBaseAction::MoveBaseAction	(	const std::string &	name,
		const RobotInformation &	robot_info,
		const std::vector< std::string > &	controllers
	)

Definition at line 49 of file move_base_action.cpp.

mbf_abstract_nav::MoveBaseAction::~MoveBaseAction ( )

Definition at line 67 of file move_base_action.cpp.

Member Function Documentation

void mbf_abstract_nav::MoveBaseAction::actionExePathActive ( ) [protected]

Definition at line 181 of file move_base_action.cpp.

void mbf_abstract_nav::MoveBaseAction::actionExePathDone	(	const actionlib::SimpleClientGoalState &	state,
		const mbf_msgs::ExePathResultConstPtr &	result
	)		`[protected]`

Definition at line 355 of file move_base_action.cpp.

void mbf_abstract_nav::MoveBaseAction::actionExePathFeedback ( const mbf_msgs::ExePathFeedbackConstPtr & feedback ) [protected]

Definition at line 186 of file move_base_action.cpp.

void mbf_abstract_nav::MoveBaseAction::actionGetPathDone	(	const actionlib::SimpleClientGoalState &	state,
		const mbf_msgs::GetPathResultConstPtr &	result
	)		`[protected]`

Definition at line 246 of file move_base_action.cpp.

void mbf_abstract_nav::MoveBaseAction::actionGetPathReplanningDone	(	const actionlib::SimpleClientGoalState &	state,
		const mbf_msgs::GetPathResultConstPtr &	result
	)		`[protected]`

Definition at line 567 of file move_base_action.cpp.

void mbf_abstract_nav::MoveBaseAction::actionRecoveryDone	(	const actionlib::SimpleClientGoalState &	state,
		const mbf_msgs::RecoveryResultConstPtr &	result
	)		`[protected]`