abstract_controller.h
Go to the documentation of this file.
1 /*
2  * Copyright 2018, Sebastian Pütz
3  *
4  * Redistribution and use in source and binary forms, with or without
5  * modification, are permitted provided that the following conditions
6  * are met:
7  *
8  * 1. Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  *
11  * 2. Redistributions in binary form must reproduce the above
12  * copyright notice, this list of conditions and the following
13  * disclaimer in the documentation and/or other materials provided
14  * with the distribution.
15  *
16  * 3. Neither the name of the copyright holder nor the names of its
17  * contributors may be used to endorse or promote products derived
18  * from this software without specific prior written permission.
19  *
20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
21  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
22  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
23  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
24  * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
25  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
26  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
27  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
28  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
29  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
30  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
31  * POSSIBILITY OF SUCH DAMAGE.
32  *
33  * abstract_planner.h
34  *
35  * author: Sebastian Pütz <spuetz@uni-osnabrueck.de>
36  *
37  */
38 
39 #ifndef MBF_ABSTRACT_CORE__ABSTRACT_CONTROLLER_H_
40 #define MBF_ABSTRACT_CORE__ABSTRACT_CONTROLLER_H_
41 
42 #include <vector>
43 #include <string>
44 #include <stdint.h>
45 #include <boost/shared_ptr.hpp>
46 #include <geometry_msgs/TwistStamped.h>
47 #include <geometry_msgs/PoseStamped.h>
48 
50 
52 
53  public:
54 
56 
60  virtual ~AbstractController(){};
61 
89  virtual uint32_t computeVelocityCommands(const geometry_msgs::PoseStamped& pose,
90  const geometry_msgs::TwistStamped& velocity,
91  geometry_msgs::TwistStamped &cmd_vel,
92  std::string &message) = 0;
93 
100  virtual bool isGoalReached(double dist_tolerance, double angle_tolerance) = 0;
101 
107  virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped> &plan) = 0;
108 
113  virtual bool cancel() = 0;
114 
115  protected:
120  };
121 } /* namespace mbf_abstract_core */
122 
123 #endif /* MBF_ABSTRACT_CORE__ABSTRACT_CONTROLLER_H_ */
virtual bool isGoalReached(double dist_tolerance, double angle_tolerance)=0
Check if the goal pose has been achieved by the local planner.
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...
virtual bool setPlan(const std::vector< geometry_msgs::PoseStamped > &plan)=0
Set the plan that the local planner is following.
boost::shared_ptr< ::mbf_abstract_core::AbstractController > Ptr


mbf_abstract_core
Author(s): Sebastian Pütz , Jorge Santos
autogenerated on Tue Jun 18 2019 19:34:30