CommanderNode Class Reference

Commander node class. More...

List of all members.

Public Member Functions
bool	build_graph ()
	CommanderNode ()
bool	parse_args (int argc, char **argv)
void	print_usage (int argc, char **argv)
void	processNavState (const art_msgs::NavigatorState::ConstPtr &nst)
void	putOrder (const art_msgs::Order &order)
bool	setup (ros::NodeHandle node)
bool	spin ()
bool	wait_for_input ()
	~CommanderNode ()
Private Attributes
std::string	frame_id_
	frame ID of map (default "/map")
Graph *	graph_
bool	load_mission_
MDF *	mdf_
std::string	mdf_name_
Mission *	mission_
std::string	mission_file_
ros::Publisher	nav_cmd_pub_
ros::Subscriber	nav_state_topic_
art_msgs::NavigatorState	navState_
RNDF *	rndf_
std::string	rndf_name_
double	speed_limit_
bool	startrun_
int	verbose_
ZonePerimeterList	zones_

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Detailed Description

Commander node class.

Definition at line 76 of file ros_node.cc.

---

Constructor & Destructor Documentation

CommanderNode::CommanderNode

(

)

[inline]

Definition at line 79 of file ros_node.cc.

CommanderNode::~CommanderNode

(

)

[inline]

Definition at line 130 of file ros_node.cc.

---

Member Function Documentation

bool CommanderNode::build_graph

(

)

[inline]

Build road map graph

Definition at line 198 of file ros_node.cc.

bool CommanderNode::parse_args	(	int	argc,
		char **	argv
	)		[inline]

Parse command line arguments

Definition at line 162 of file ros_node.cc.

void CommanderNode::print_usage	(	int	argc,
		char **	argv
	)		[inline]

Print command argument usage message

Definition at line 323 of file ros_node.cc.

void CommanderNode::processNavState

(

const art_msgs::NavigatorState::ConstPtr &

nst

)

[inline]

Process navigator state input

Definition at line 155 of file ros_node.cc.

void CommanderNode::putOrder

(

const art_msgs::Order &

order

)

[inline]

Send order in command to navigator driver

Definition at line 256 of file ros_node.cc.

bool CommanderNode::setup

(

ros::NodeHandle

node

)

[inline]

Set up ROS topics

Definition at line 141 of file ros_node.cc.

bool CommanderNode::spin

(

)

[inline]

Main spin loop

Definition at line 268 of file ros_node.cc.

bool CommanderNode::wait_for_input

(

)

[inline]

Wait for navigator state message to arrive

Definition at line 337 of file ros_node.cc.

---

Member Data Documentation

std::string CommanderNode::frame_id_ [private]

frame ID of map (default "/map")

Definition at line 364 of file ros_node.cc.

Graph* CommanderNode::graph_ [private]

Definition at line 373 of file ros_node.cc.

bool CommanderNode::load_mission_ [private]

Definition at line 358 of file ros_node.cc.

MDF* CommanderNode::mdf_ [private]

Definition at line 372 of file ros_node.cc.

std::string CommanderNode::mdf_name_ [private]

Definition at line 362 of file ros_node.cc.

Mission* CommanderNode::mission_ [private]

Definition at line 374 of file ros_node.cc.

std::string CommanderNode::mission_file_ [private]

Definition at line 357 of file ros_node.cc.

ros::Publisher CommanderNode::nav_cmd_pub_ [private]

Definition at line 368 of file ros_node.cc.

ros::Subscriber CommanderNode::nav_state_topic_ [private]

Definition at line 367 of file ros_node.cc.

art_msgs::NavigatorState CommanderNode::navState_ [private]

Definition at line 369 of file ros_node.cc.

RNDF* CommanderNode::rndf_ [private]

Definition at line 371 of file ros_node.cc.

std::string CommanderNode::rndf_name_ [private]

Definition at line 361 of file ros_node.cc.

double CommanderNode::speed_limit_ [private]

Definition at line 360 of file ros_node.cc.

bool CommanderNode::startrun_ [private]

Definition at line 359 of file ros_node.cc.

int CommanderNode::verbose_ [private]

Definition at line 363 of file ros_node.cc.

ZonePerimeterList CommanderNode::zones_ [private]

Definition at line 375 of file ros_node.cc.

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

• ros_node.cc