Navigator Class Reference

#include <navigator_internal.h>

List of all members.

Public Member Functions
void	configure ()
pilot_command_t	navigate (void)
	Navigator (nav_msgs::Odometry *odom_msg)
void	reduce_speed_with_min (pilot_command_t &pcmd, float new_speed)
void	trace_controller (const char *name, pilot_command_t &pcmd)
	~Navigator ()
Public Attributes
Config	config_
Course *	course
nav_msgs::Odometry	estimate
Estop *	estop
art_msgs::NavigatorState	navdata
Obstacle *	obstacle
nav_msgs::Odometry *	odometry
art_msgs::Order	order
PolyOps *	pops
Private Attributes
int	verbose

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Detailed Description

Definition at line 64 of file navigator_internal.h.

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Constructor & Destructor Documentation

Navigator::Navigator

(

nav_msgs::Odometry *

odom_msg

)

Main ART navigator class.

The Navigator class instantiates some infrastructure and the top-level (Estop) controller. Then, on each cycle it runs the Estop controller, which indirectly invokes other controllers when appropriate.

Todo:

Add ROS-style obstacle detection.

Definition at line 31 of file navigator.cc.

Navigator::~Navigator

(

)

Definition at line 57 of file navigator.cc.

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Member Function Documentation

void Navigator::configure

(

)

Configure parameters

Definition at line 94 of file navigator.cc.

pilot_command_t Navigator::navigate

(

void

)

Main navigator entry point -- called once every driver cycle

The order contains a behavior which affects the navigator state for this cycle.

Returns:

a pilot_command_t with control output for this cycle.

Definition at line 75 of file navigator.cc.

void Navigator::reduce_speed_with_min	(	pilot_command_t &	pcmd,
		float	new_speed
	)		[inline]

Definition at line 92 of file navigator_internal.h.

void Navigator::trace_controller	(	const char *	name,
		pilot_command_t &	pcmd
	)		[inline]

Definition at line 102 of file navigator_internal.h.

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Member Data Documentation

Config Navigator::config_

Definition at line 89 of file navigator_internal.h.

Course* Navigator::course

Definition at line 70 of file navigator_internal.h.

nav_msgs::Odometry Navigator::estimate

Definition at line 79 of file navigator_internal.h.

Estop* Navigator::estop

Definition at line 74 of file navigator_internal.h.

art_msgs::NavigatorState Navigator::navdata

Definition at line 78 of file navigator_internal.h.

Obstacle* Navigator::obstacle

Definition at line 71 of file navigator_internal.h.

nav_msgs::Odometry* Navigator::odometry

Definition at line 80 of file navigator_internal.h.

art_msgs::Order Navigator::order

Definition at line 77 of file navigator_internal.h.

PolyOps* Navigator::pops

Definition at line 69 of file navigator_internal.h.

int Navigator::verbose [private]

Definition at line 110 of file navigator_internal.h.

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

• navigator_internal.h
• navigator.cc