Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
mbf_abstract_nav::ControllerAction Class Reference

#include <controller_action.h>

Inheritance diagram for mbf_abstract_nav::ControllerAction:
Inheritance graph
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Public Types

typedef boost::shared_ptr< ControllerActionPtr
 
- Public Types inherited from mbf_abstract_nav::AbstractAction< mbf_msgs::ExePathAction, AbstractControllerExecution >
typedef actionlib::ActionServer< mbf_msgs::ExePathAction >::GoalHandle GoalHandle
 
typedef boost::shared_ptr< AbstractActionPtr
 
typedef boost::function< void(GoalHandle &goal_handle, AbstractControllerExecution &execution)> RunMethod
 

Public Member Functions

 ControllerAction (const std::string &name, const RobotInformation &robot_info)
 
void run (GoalHandle &goal_handle, AbstractControllerExecution &execution)
 
void start (GoalHandle &goal_handle, typename AbstractControllerExecution::Ptr execution_ptr)
 Start controller action. Override abstract action version to allow updating current plan without stopping execution. More...
 
- Public Member Functions inherited from mbf_abstract_nav::AbstractAction< mbf_msgs::ExePathAction, AbstractControllerExecution >
 AbstractAction (const std::string &name, const RobotInformation &robot_info, const RunMethod run_method)
 
virtual void cancel (GoalHandle &goal_handle)
 
virtual void cancelAll ()
 
virtual void reconfigureAll (mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level)
 
virtual void runAndCleanUp (GoalHandle &goal_handle, typename AbstractControllerExecution ::Ptr execution_ptr)
 
virtual void start (GoalHandle &goal_handle, typename AbstractControllerExecution ::Ptr execution_ptr)
 

Protected Member Functions

void fillExePathResult (uint32_t outcome, const std::string &message, mbf_msgs::ExePathResult &result)
 Utility method to fill the ExePath action result in a single line. More...
 
void publishExePathFeedback (GoalHandle &goal_handle, uint32_t outcome, const std::string &message, const geometry_msgs::TwistStamped &current_twist)
 

Protected Attributes

boost::mutex goal_mtx_
 lock goal handle for updating it while running More...
 
geometry_msgs::PoseStamped goal_pose_
 Current goal pose. More...
 
geometry_msgs::PoseStamped robot_pose_
 Current robot pose. More...
 
- Protected Attributes inherited from mbf_abstract_nav::AbstractAction< mbf_msgs::ExePathAction, AbstractControllerExecution >
std::map< uint8_t, ConcurrencySlot > concurrency_slots_
 
const std::string & name_
 
const RobotInformationrobot_info_
 
RunMethod run_
 
boost::mutex slot_map_mtx_
 
boost::thread_group threads_
 

Detailed Description

Definition at line 52 of file controller_action.h.

Member Typedef Documentation

◆ Ptr

Definition at line 57 of file controller_action.h.

Constructor & Destructor Documentation

◆ ControllerAction()

mbf_abstract_nav::ControllerAction::ControllerAction ( const std::string &  name,
const RobotInformation robot_info 
)

Definition at line 46 of file controller_action.cpp.

Member Function Documentation

◆ fillExePathResult()

void mbf_abstract_nav::ControllerAction::fillExePathResult ( uint32_t  outcome,
const std::string &  message,
mbf_msgs::ExePathResult &  result 
)
protected

Utility method to fill the ExePath action result in a single line.

Parameters
outcomeExePath action outcome
messageExePath action message
resultThe action result to fill

Definition at line 347 of file controller_action.cpp.

◆ publishExePathFeedback()

void mbf_abstract_nav::ControllerAction::publishExePathFeedback ( GoalHandle goal_handle,
uint32_t  outcome,
const std::string &  message,
const geometry_msgs::TwistStamped &  current_twist 
)
protected

Definition at line 328 of file controller_action.cpp.

◆ run()

void mbf_abstract_nav::ControllerAction::run ( GoalHandle goal_handle,
AbstractControllerExecution execution 
)

Definition at line 97 of file controller_action.cpp.

◆ start()

void mbf_abstract_nav::ControllerAction::start ( GoalHandle goal_handle,
typename AbstractControllerExecution::Ptr  execution_ptr 
)

Start controller action. Override abstract action version to allow updating current plan without stopping execution.

Parameters
goal_handleReference to the goal handle received on action execution callback.
execution_ptrPointer to the execution descriptor.

Definition at line 53 of file controller_action.cpp.

Member Data Documentation

◆ goal_mtx_

boost::mutex mbf_abstract_nav::ControllerAction::goal_mtx_
protected

lock goal handle for updating it while running

Definition at line 91 of file controller_action.h.

◆ goal_pose_

geometry_msgs::PoseStamped mbf_abstract_nav::ControllerAction::goal_pose_
protected

Current goal pose.

Definition at line 93 of file controller_action.h.

◆ robot_pose_

geometry_msgs::PoseStamped mbf_abstract_nav::ControllerAction::robot_pose_
protected

Current robot pose.

Definition at line 92 of file controller_action.h.


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


mbf_abstract_nav
Author(s): Sebastian Pütz
autogenerated on Sat Oct 12 2019 04:02:25