RobotNavigator Class Reference

#include <RobotNavigator.h>

Public Member Functions
void	receiveExploreGoal (const nav2d_navigator::ExploreGoal::ConstPtr &goal)
void	receiveGetMapGoal (const nav2d_navigator::GetFirstMapGoal::ConstPtr &goal)
void	receiveLocalizeGoal (const nav2d_navigator::LocalizeGoal::ConstPtr &goal)
void	receiveMoveGoal (const nav2d_navigator::MoveToPosition2DGoal::ConstPtr &goal)
bool	receivePause (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
bool	receiveStop (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
	RobotNavigator ()
	~RobotNavigator ()

Private Member Functions
bool	correctGoalPose ()
bool	createPlan ()
bool	generateCommand ()
bool	getMap ()
bool	isLocalized ()
bool	preparePlan ()
void	publishPlan ()
bool	setCurrentPosition ()
void	stop ()

Private Attributes
unsigned int	mCellInflationRadius
unsigned int	mCellRobotRadius
ros::Publisher	mCommandPublisher
double	mCommandTargetDistance
signed char	mCostLethal
signed char	mCostObstacle
double	mCurrentDirection
GridMap	mCurrentMap
double *	mCurrentPlan
double	mCurrentPositionX
double	mCurrentPositionY
double	mExplorationGoalDistance
boost::shared_ptr< ExplorationPlanner >	mExplorationPlanner
std::string	mExplorationStrategy
ExploreActionServer *	mExploreActionServer
std::string	mExploreActionTopic
double	mFrequency
GetMapActionServer *	mGetMapActionServer
std::string	mGetMapActionTopic
ros::ServiceClient	mGetMapClient
unsigned int	mGoalPoint
ros::Subscriber	mGoalSubscriber
bool	mHasNewMap
double	mInflationRadius
MapInflationTool	mInflationTool
bool	mIsPaused
bool	mIsStopped
LocalizeActionServer *	mLocalizeActionServer
std::string	mLocalizeActionTopic
std::string	mMapFrame
ros::Publisher	mMarkerPublisher
double	mMaxReplanningPeriod
double	mMinReplanningPeriod
MoveActionServer *	mMoveActionServer
std::string	mMoveActionTopic
double	mNavigationGoalAngle
double	mNavigationGoalDistance
double	mNavigationHomingDistance
ros::ServiceServer	mPauseServer
PlanLoader *	mPlanLoader
ros::Publisher	mPlanPublisher
std::string	mRobotFrame
int	mRobotID
double	mRobotRadius
unsigned int	mStartPoint
int	mStatus
ros::ServiceServer	mStopServer
tf::TransformListener	mTfListener

Detailed Description

Definition at line 25 of file RobotNavigator.h.

Constructor & Destructor Documentation

RobotNavigator::RobotNavigator

(

)

Definition at line 16 of file RobotNavigator.cpp.

RobotNavigator::~RobotNavigator

(

)

Definition at line 99 of file RobotNavigator.cpp.

Member Function Documentation

bool RobotNavigator::correctGoalPose ( )

private

Definition at line 357 of file RobotNavigator.cpp.

bool RobotNavigator::createPlan ( )

private

Definition at line 197 of file RobotNavigator.cpp.

bool RobotNavigator::generateCommand ( )

private

Definition at line 419 of file RobotNavigator.cpp.

bool RobotNavigator::getMap ( )

private

Definition at line 109 of file RobotNavigator.cpp.

bool RobotNavigator::isLocalized ( )

private

Definition at line 921 of file RobotNavigator.cpp.

bool RobotNavigator::preparePlan ( )

private

Definition at line 174 of file RobotNavigator.cpp.

void RobotNavigator::publishPlan ( )

private

Definition at line 312 of file RobotNavigator.cpp.

void RobotNavigator::receiveExploreGoal

(

const nav2d_navigator::ExploreGoal::ConstPtr &

goal

)

Definition at line 792 of file RobotNavigator.cpp.

void RobotNavigator::receiveGetMapGoal

(

const nav2d_navigator::GetFirstMapGoal::ConstPtr &

goal

)

Definition at line 491 of file RobotNavigator.cpp.

void RobotNavigator::receiveLocalizeGoal

(

const nav2d_navigator::LocalizeGoal::ConstPtr &

goal

)

Definition at line 582 of file RobotNavigator.cpp.

void RobotNavigator::receiveMoveGoal

(

const nav2d_navigator::MoveToPosition2DGoal::ConstPtr &

goal

)

Definition at line 636 of file RobotNavigator.cpp.

bool RobotNavigator::receivePause	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Definition at line 151 of file RobotNavigator.cpp.

bool RobotNavigator::receiveStop	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

Definition at line 143 of file RobotNavigator.cpp.

bool RobotNavigator::setCurrentPosition ( )

private

Definition at line 926 of file RobotNavigator.cpp.

void RobotNavigator::stop ( )

private

Definition at line 408 of file RobotNavigator.cpp.

Member Data Documentation

unsigned int RobotNavigator::mCellInflationRadius

private

Definition at line 95 of file RobotNavigator.h.

unsigned int RobotNavigator::mCellRobotRadius

private

Definition at line 96 of file RobotNavigator.h.

ros::Publisher RobotNavigator::mCommandPublisher

private

Definition at line 54 of file RobotNavigator.h.

double RobotNavigator::mCommandTargetDistance

private

Definition at line 101 of file RobotNavigator.h.

signed char RobotNavigator::mCostLethal

private

Definition at line 99 of file RobotNavigator.h.

signed char RobotNavigator::mCostObstacle

private

Definition at line 98 of file RobotNavigator.h.

double RobotNavigator::mCurrentDirection

private

Definition at line 81 of file RobotNavigator.h.

GridMap RobotNavigator::mCurrentMap

private

Definition at line 89 of file RobotNavigator.h.

double* RobotNavigator::mCurrentPlan

private

Definition at line 90 of file RobotNavigator.h.

double RobotNavigator::mCurrentPositionX

private

Definition at line 82 of file RobotNavigator.h.

double RobotNavigator::mCurrentPositionY

private

Definition at line 83 of file RobotNavigator.h.

double RobotNavigator::mExplorationGoalDistance

private

Definition at line 105 of file RobotNavigator.h.

boost::shared_ptr<ExplorationPlanner> RobotNavigator::mExplorationPlanner

private

Definition at line 88 of file RobotNavigator.h.

std::string RobotNavigator::mExplorationStrategy

private

Definition at line 87 of file RobotNavigator.h.

ExploreActionServer* RobotNavigator::mExploreActionServer

private

Definition at line 67 of file RobotNavigator.h.

std::string RobotNavigator::mExploreActionTopic

private

Definition at line 62 of file RobotNavigator.h.

double RobotNavigator::mFrequency

private

Definition at line 92 of file RobotNavigator.h.

GetMapActionServer* RobotNavigator::mGetMapActionServer

private

Definition at line 68 of file RobotNavigator.h.

std::string RobotNavigator::mGetMapActionTopic

private

Definition at line 63 of file RobotNavigator.h.

ros::ServiceClient RobotNavigator::mGetMapClient

private

Definition at line 51 of file RobotNavigator.h.

unsigned int RobotNavigator::mGoalPoint

private

Definition at line 79 of file RobotNavigator.h.

ros::Subscriber RobotNavigator::mGoalSubscriber

private

Definition at line 52 of file RobotNavigator.h.

bool RobotNavigator::mHasNewMap

private

Definition at line 74 of file RobotNavigator.h.

double RobotNavigator::mInflationRadius

private

Definition at line 93 of file RobotNavigator.h.

MapInflationTool RobotNavigator::mInflationTool

private

Definition at line 86 of file RobotNavigator.h.

bool RobotNavigator::mIsPaused

private

Definition at line 75 of file RobotNavigator.h.

bool RobotNavigator::mIsStopped

private

Definition at line 76 of file RobotNavigator.h.

LocalizeActionServer* RobotNavigator::mLocalizeActionServer

private

Definition at line 69 of file RobotNavigator.h.

std::string RobotNavigator::mLocalizeActionTopic

private

Definition at line 64 of file RobotNavigator.h.

std::string RobotNavigator::mMapFrame

private

Definition at line 59 of file RobotNavigator.h.

ros::Publisher RobotNavigator::mMarkerPublisher

private

Definition at line 55 of file RobotNavigator.h.

double RobotNavigator::mMaxReplanningPeriod

private

Definition at line 107 of file RobotNavigator.h.

double RobotNavigator::mMinReplanningPeriod

private

Definition at line 106 of file RobotNavigator.h.

MoveActionServer* RobotNavigator::mMoveActionServer

private

Definition at line 66 of file RobotNavigator.h.

std::string RobotNavigator::mMoveActionTopic

private

Definition at line 61 of file RobotNavigator.h.

double RobotNavigator::mNavigationGoalAngle

private

Definition at line 103 of file RobotNavigator.h.

double RobotNavigator::mNavigationGoalDistance

private

Definition at line 102 of file RobotNavigator.h.

double RobotNavigator::mNavigationHomingDistance

private

Definition at line 104 of file RobotNavigator.h.

ros::ServiceServer RobotNavigator::mPauseServer

private

Definition at line 57 of file RobotNavigator.h.

PlanLoader* RobotNavigator::mPlanLoader

private

Definition at line 71 of file RobotNavigator.h.

ros::Publisher RobotNavigator::mPlanPublisher

private

Definition at line 53 of file RobotNavigator.h.

std::string RobotNavigator::mRobotFrame

private

Definition at line 60 of file RobotNavigator.h.

int RobotNavigator::mRobotID

private

Definition at line 78 of file RobotNavigator.h.

double RobotNavigator::mRobotRadius

private

Definition at line 94 of file RobotNavigator.h.

unsigned int RobotNavigator::mStartPoint

private

Definition at line 80 of file RobotNavigator.h.

int RobotNavigator::mStatus

private

Definition at line 77 of file RobotNavigator.h.

ros::ServiceServer RobotNavigator::mStopServer

private

Definition at line 56 of file RobotNavigator.h.

tf::TransformListener RobotNavigator::mTfListener

private

Definition at line 50 of file RobotNavigator.h.

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

• RobotNavigator.h
• RobotNavigator.cpp