#include <MultiRobotLocalBehaviorController.h>

Public Member Functions
	MultiRobotLocalBehaviorController (ros::NodeHandle &n)

void	publishRobotInfo ()

Public Attributes
ros::NodeHandle	n_
	Node handler to the root node. More...

ros::NodeHandle	n_param_
	Node handler to the current node. More...

std::unique_ptr< ros::Rate >	rate_

Private Member Functions
int	findRobotId (std::string _name)

void	publishPath (std::vector< Eigen::Vector3d > _p, int _topic)

void	subOdomCb (const ros::MessageEvent< nav_msgs::Odometry const > &_event, int _topic)

void	subSegPathCb (const ros::MessageEvent< tuw_multi_robot_msgs::Route const > &_event, int _topic)

Private Attributes
std::vector< RobotRouteToPath >	converter_

std::string	frame_map_

int	no_robots_

std::vector< RobotStateObserver >	observer_

std::vector< ros::Publisher >	pubPath_

ros::Publisher	pubRobotInfo_

std::vector< std::string >	robot_names_

std::vector< geometry_msgs::PoseWithCovariance >	robot_pose_

std::vector< float >	robot_radius_

std::vector< int >	robot_steps_

float	robotDefaultRadius_ = 0.6

std::vector< ros::Subscriber >	subOdometry_

std::vector< ros::Subscriber >	subSegPath_

std::string	topic_odom_

std::string	topic_path_

std::string	topic_robot_info_

std::string	topic_route_

Detailed Description

Definition at line 42 of file MultiRobotLocalBehaviorController.h.

Constructor & Destructor Documentation

tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::MultiRobotLocalBehaviorController ( ros::NodeHandle & n )

Definition at line 52 of file MultiRobotLocalBehaviorController.cpp.

Member Function Documentation

int tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::findRobotId ( std::string _name )

private

Definition at line 176 of file MultiRobotLocalBehaviorController.cpp.

void tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::publishPath	(	std::vector< Eigen::Vector3d >	_p,
		int	_topic
	)

private

Definition at line 145 of file MultiRobotLocalBehaviorController.cpp.

void tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::publishRobotInfo ( )

Definition at line 248 of file MultiRobotLocalBehaviorController.cpp.

void tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::subOdomCb	(	const ros::MessageEvent< nav_msgs::Odometry const > &	_event,
		int	_topic
	)

private

Definition at line 121 of file MultiRobotLocalBehaviorController.cpp.

void tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::subSegPathCb	(	const ros::MessageEvent< tuw_multi_robot_msgs::Route const > &	_event,
		int	_topic
	)

private

Definition at line 187 of file MultiRobotLocalBehaviorController.cpp.

Member Data Documentation

std::vector<RobotRouteToPath> tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::converter_

private

Definition at line 77 of file MultiRobotLocalBehaviorController.h.

std::string tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::frame_map_

private

Definition at line 67 of file MultiRobotLocalBehaviorController.h.

ros::NodeHandle tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::n_

Node handler to the root node.

Definition at line 49 of file MultiRobotLocalBehaviorController.h.

ros::NodeHandle tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::n_param_

Node handler to the current node.

Definition at line 50 of file MultiRobotLocalBehaviorController.h.

int tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::no_robots_

private

Definition at line 79 of file MultiRobotLocalBehaviorController.h.

std::vector<RobotStateObserver> tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::observer_

private

Definition at line 78 of file MultiRobotLocalBehaviorController.h.

std::vector<ros::Publisher> tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::pubPath_

private

Definition at line 57 of file MultiRobotLocalBehaviorController.h.

ros::Publisher tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::pubRobotInfo_

private

Definition at line 58 of file MultiRobotLocalBehaviorController.h.

std::unique_ptr<ros::Rate> tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::rate_

Definition at line 51 of file MultiRobotLocalBehaviorController.h.

std::vector<std::string> tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::robot_names_

private

Definition at line 68 of file MultiRobotLocalBehaviorController.h.

std::vector<geometry_msgs::PoseWithCovariance> tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::robot_pose_

private

Definition at line 70 of file MultiRobotLocalBehaviorController.h.

std::vector<float> tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::robot_radius_

private

Definition at line 69 of file MultiRobotLocalBehaviorController.h.

std::vector<int> tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::robot_steps_

private

Definition at line 80 of file MultiRobotLocalBehaviorController.h.

float tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::robotDefaultRadius_ = 0.6

private

Definition at line 71 of file MultiRobotLocalBehaviorController.h.

std::vector<ros::Subscriber> tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::subOdometry_

private

Definition at line 60 of file MultiRobotLocalBehaviorController.h.

std::vector<ros::Subscriber> tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::subSegPath_

private

Definition at line 59 of file MultiRobotLocalBehaviorController.h.

std::string tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::topic_odom_

private

Definition at line 65 of file MultiRobotLocalBehaviorController.h.

std::string tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::topic_path_

private

Definition at line 63 of file MultiRobotLocalBehaviorController.h.

std::string tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::topic_robot_info_

private

Definition at line 66 of file MultiRobotLocalBehaviorController.h.

std::string tuw_multi_robot_route_to_path::MultiRobotLocalBehaviorController::topic_route_

private

Definition at line 64 of file MultiRobotLocalBehaviorController.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation