rsm::RealsenseMappingState Class Reference

Dummy state for mapping at a reached goal during exploration. Only initiates transition to CalculateGoalState. More...

#include <RealsenseMappingState.h>

Inheritance diagram for rsm::RealsenseMappingState:

Public Member Functions
void	onActive ()
void	onEntry ()
void	onExit ()
void	onExplorationStart (bool &success, std::string &message)
void	onExplorationStop (bool &success, std::string &message)
void	onInterrupt (int interrupt)
	Called when an operation mode interrupt was received. More...
void	onSetup ()
void	onWaypointFollowingStart (bool &success, std::string &message)
void	onWaypointFollowingStop (bool &success, std::string &message)
	RealsenseMappingState ()
	~RealsenseMappingState ()
Public Member Functions inherited from rsm::BaseState
	BaseState ()
std::string	getName ()
StateInterface *	getStateInterface ()
void	setStateInterface (StateInterface *stateinterface)
virtual	~BaseState ()

Private Member Functions
void	jointStateCallback (sensor_msgs::JointState::ConstPtr joint_state)

Private Attributes
ros::Subscriber	_joint_states_subscriber
bool	_message_send
int	_navigation_completed_status
ros::ServiceClient	_navigation_goal_completed_service
ros::NodeHandle	_nh
bool	_position_reached
ros::Publisher	_realsense_joint_controller
ros::ServiceClient	_reset_realsense_position_client
int	_swivel_state

Additional Inherited Members
Protected Attributes inherited from rsm::BaseState
bool	_interrupt_occured
std::string	_name
StateInterface *	_stateinterface

Detailed Description

Dummy state for mapping at a reached goal during exploration. Only initiates transition to CalculateGoalState.

Definition at line 32 of file RealsenseMappingState.h.

Constructor & Destructor Documentation

RealsenseMappingState()

rsm::RealsenseMappingState::RealsenseMappingState

(

)

Constructor

Definition at line 5 of file RealsenseMappingState.cpp.

~RealsenseMappingState()

rsm::RealsenseMappingState::~RealsenseMappingState

(

)

Destructor

Definition at line 8 of file RealsenseMappingState.cpp.

Member Function Documentation

jointStateCallback()

void rsm::RealsenseMappingState::jointStateCallback ( sensor_msgs::JointState::ConstPtr  joint_state )

private

Callback for joint states to check if camera reached the desired position

Parameters

joint_state

joint state message

Definition at line 150 of file RealsenseMappingState.cpp.

onActive()

void rsm::RealsenseMappingState::onActive ( )

virtual

Process method (step-wise, never block this method)

Implements rsm::BaseState.

Definition at line 32 of file RealsenseMappingState.cpp.

onEntry()

void rsm::RealsenseMappingState::onEntry ( )

virtual

Called once when activated

Reimplemented from rsm::BaseState.

Definition at line 28 of file RealsenseMappingState.cpp.

onExit()

void rsm::RealsenseMappingState::onExit ( )

virtual

Called once when left

Reimplemented from rsm::BaseState.

Definition at line 88 of file RealsenseMappingState.cpp.

onExplorationStart()

void rsm::RealsenseMappingState::onExplorationStart ( bool &  success, std::string &  message  )

virtual

Called when exploration was started manually

Reimplemented from rsm::BaseState.

Definition at line 105 of file RealsenseMappingState.cpp.

onExplorationStop()

void rsm::RealsenseMappingState::onExplorationStop ( bool &  success, std::string &  message  )

virtual

Called when exploration was stopped manually

Reimplemented from rsm::BaseState.

Definition at line 111 of file RealsenseMappingState.cpp.

onInterrupt()

void rsm::RealsenseMappingState::onInterrupt ( int  interrupt )

virtual

Called when an operation mode interrupt was received.

Parameters

interrupt

Kind of interrupt (0=EmergencyStop, 1=TeleoperationInterupt)

Reimplemented from rsm::BaseState.

Definition at line 130 of file RealsenseMappingState.cpp.

onSetup()

void rsm::RealsenseMappingState::onSetup ( )

virtual

Called once when registered at StateInterface

Reimplemented from rsm::BaseState.

Definition at line 11 of file RealsenseMappingState.cpp.

onWaypointFollowingStart()

void rsm::RealsenseMappingState::onWaypointFollowingStart ( bool &  success, std::string &  message  )

virtual

Called when waypoint following was started/paused manually

Reimplemented from rsm::BaseState.

Definition at line 118 of file RealsenseMappingState.cpp.

onWaypointFollowingStop()

void rsm::RealsenseMappingState::onWaypointFollowingStop ( bool &  success, std::string &  message  )

virtual

Called when waypoint following was stopped manually

Reimplemented from rsm::BaseState.

Definition at line 124 of file RealsenseMappingState.cpp.

Member Data Documentation

_joint_states_subscriber

ros::Subscriber rsm::RealsenseMappingState::_joint_states_subscriber

private

Definition at line 95 of file RealsenseMappingState.h.

_message_send

bool rsm::RealsenseMappingState::_message_send

private

Move command sent to realsense controller

Definition at line 111 of file RealsenseMappingState.h.

_navigation_completed_status

int rsm::RealsenseMappingState::_navigation_completed_status

private

Was the mapping at the exploration goal successful or not

Definition at line 115 of file RealsenseMappingState.h.

_navigation_goal_completed_service

ros::ServiceClient rsm::RealsenseMappingState::_navigation_goal_completed_service

private

Definition at line 98 of file RealsenseMappingState.h.

_nh

ros::NodeHandle rsm::RealsenseMappingState::_nh

private

Definition at line 94 of file RealsenseMappingState.h.

_position_reached

bool rsm::RealsenseMappingState::_position_reached

private

If the current state reached it's goal already

Definition at line 107 of file RealsenseMappingState.h.

_realsense_joint_controller

ros::Publisher rsm::RealsenseMappingState::_realsense_joint_controller

private

Definition at line 96 of file RealsenseMappingState.h.

_reset_realsense_position_client

ros::ServiceClient rsm::RealsenseMappingState::_reset_realsense_position_client

private

Definition at line 97 of file RealsenseMappingState.h.

_swivel_state

int rsm::RealsenseMappingState::_swivel_state

private

Current state of swiveling the Realsense camera from left to right and back (0: to left, 1: left to right: 2: back to center)

Definition at line 103 of file RealsenseMappingState.h.

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

• RealsenseMappingState.h
• RealsenseMappingState.cpp