abstract_recovery_execution.h
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1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
3  *
4  * Redistribution and use in source and binary forms, with or without
5  * modification, are permitted provided that the following conditions
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32  *
33  * abstract_recovery_execution.h
34  *
35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
38  *
39  */
40 
41 #ifndef MBF_ABSTRACT_NAV__ABSTRACT_RECOVERY_EXECUTION_H_
42 #define MBF_ABSTRACT_NAV__ABSTRACT_RECOVERY_EXECUTION_H_
43 
44 #include <map>
45 #include <string>
46 #include <vector>
47 
49 #include <mbf_utility/types.h>
50 
52 
53 #include "mbf_abstract_nav/MoveBaseFlexConfig.h"
55 
56 
57 namespace mbf_abstract_nav
58 {
59 
75  {
76  public:
77 
79 
85  AbstractRecoveryExecution(const std::string &name,
86  const mbf_abstract_core::AbstractRecovery::Ptr &recovery_ptr,
87  const TFPtr &tf_listener_ptr,
88  const MoveBaseFlexConfig &config);
89 
94 
99  bool isPatienceExceeded();
100 
106  virtual bool cancel();
107 
112  {
121  };
122 
128 
134  void reconfigure(const MoveBaseFlexConfig &config);
135 
136  protected:
137 
141  virtual void run();
142 
145 
148 
149  private:
150 
155  void setState(RecoveryState state);
156 
158  boost::mutex state_mtx_;
159 
161  boost::mutex conf_mtx_;
162  boost::mutex time_mtx_;
163 
166 
169 
172  };
173 
174 } /* namespace mbf_abstract_nav */
175 
176 #endif /* MBF_ABSTRACT_NAV__ABSTRACT_RECOVERY_EXECUTION_H_ */
void reconfigure(const MoveBaseFlexConfig &config)
Reconfigures the current configuration and reloads all parameters. This method is called from a dynam...
const TFPtr tf_listener_ptr_
shared pointer to common TransformListener
AbstractRecoveryExecution::RecoveryState getState()
Returns the current state, thread-safe communication.
void setState(RecoveryState state)
Sets the current internal state. This method is thread communication safe.
The given name could not be associated with a load behavior.
virtual void run()
Main execution method which will be executed by the recovery execution thread_.
AbstractRecoveryExecution(const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &recovery_ptr, const TFPtr &tf_listener_ptr, const MoveBaseFlexConfig &config)
Constructor.
ros::Time start_time_
recovery behavior start time
boost::mutex state_mtx_
mutex to handle safe thread communication for the current state
boost::mutex conf_mtx_
dynamic reconfigure and start time mutexes to mutually exclude read/write configuration ...
ros::Duration patience_
recovery behavior allowed time
virtual bool cancel()
Cancel the planner execution. This calls the cancel method of the planner plugin. This could be usefu...
mbf_abstract_core::AbstractRecovery::Ptr behavior_
the current loaded recovery behavior
The AbstractRecoveryExecution class loads and binds the recovery behavior plugin. It contains a threa...
bool isPatienceExceeded()
Checks whether the patience was exceeded.
The recovery execution thread has been started.
boost::shared_ptr< AbstractRecoveryExecution > Ptr


mbf_abstract_nav
Author(s): Sebastian Pütz
autogenerated on Fri Nov 6 2020 03:56:24