#include <abstract_controller.h>
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virtual bool | cancel ()=0 |
| Requests the planner to cancel, e.g. if it takes too much time. More...
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virtual uint32_t | computeVelocityCommands (const geometry_msgs::PoseStamped &pose, const geometry_msgs::TwistStamped &velocity, geometry_msgs::TwistStamped &cmd_vel, std::string &message)=0 |
| Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base. More...
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virtual bool | isGoalReached (double dist_tolerance, double angle_tolerance)=0 |
| Check if the goal pose has been achieved by the local planner. More...
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virtual bool | setPlan (const std::vector< geometry_msgs::PoseStamped > &plan)=0 |
| Set the plan that the local planner is following. More...
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virtual | ~AbstractController () |
| Destructor. More...
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Definition at line 51 of file abstract_controller.h.
virtual mbf_abstract_core::AbstractController::~AbstractController |
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inlinevirtual |
mbf_abstract_core::AbstractController::AbstractController |
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inlineprotected |
virtual bool mbf_abstract_core::AbstractController::cancel |
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pure virtual |
Requests the planner to cancel, e.g. if it takes too much time.
- Returns
- True if a cancel has been successfully requested, false if not implemented.
virtual uint32_t mbf_abstract_core::AbstractController::computeVelocityCommands |
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const geometry_msgs::PoseStamped & |
pose, |
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const geometry_msgs::TwistStamped & |
velocity, |
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geometry_msgs::TwistStamped & |
cmd_vel, |
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std::string & |
message |
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pure virtual |
Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.
- Parameters
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pose | The current pose of the robot. |
velocity | The current velocity of the robot. |
cmd_vel | Will be filled with the velocity command to be passed to the robot base. |
message | Optional more detailed outcome as a string |
- Returns
- Result code as described on ExePath action result: SUCCESS = 0 1..9 are reserved as plugin specific non-error results FAILURE = 100 Unspecified failure, only used for old, non-mfb_core based plugins CANCELED = 101 NO_VALID_CMD = 102 PAT_EXCEEDED = 103 COLLISION = 104 OSCILLATION = 105 ROBOT_STUCK = 106 MISSED_GOAL = 107 MISSED_PATH = 108 BLOCKED_PATH = 109 INVALID_PATH = 110 TF_ERROR = 111 NOT_INITIALIZED = 112 INVALID_PLUGIN = 113 INTERNAL_ERROR = 114 121..149 are reserved as plugin specific errors
virtual bool mbf_abstract_core::AbstractController::isGoalReached |
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double |
dist_tolerance, |
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double |
angle_tolerance |
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pure virtual |
Check if the goal pose has been achieved by the local planner.
- Parameters
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angle_tolerance | The angle tolerance in which the current pose will be partly accepted as reached goal |
dist_tolerance | The distance tolerance in which the current pose will be partly accepted as reached goal |
- Returns
- True if achieved, false otherwise
virtual bool mbf_abstract_core::AbstractController::setPlan |
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const std::vector< geometry_msgs::PoseStamped > & |
plan | ) |
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pure virtual |
Set the plan that the local planner is following.
- Parameters
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plan | The plan to pass to the local planner |
- Returns
- True if the plan was updated successfully, false otherwise
The documentation for this class was generated from the following file: