yocs::WaypointsGoalNode Class Reference

#include <waypoints_navi.hpp>

Public Member Functions
bool	init ()
void	navCtrlCB (const yocs_msgs::NavigationControl::ConstPtr &nav_ctrl)
void	spin ()
void	trajectoriesCB (const yocs_msgs::TrajectoryList::ConstPtr &trajs)
void	waypointsCB (const yocs_msgs::WaypointList::ConstPtr &wps)
	WaypointsGoalNode ()
	~WaypointsGoalNode ()

Private Types
enum	{ NONE = 0, GOAL, LOOP }
enum	{ IDLE = 0, START, ACTIVE, COMPLETED }

Private Member Functions
bool	cancelAllGoals (double timeout=2.0)
bool	equals (const geometry_msgs::PoseStamped &a, const geometry_msgs::PoseStamped &b)
bool	equals (const geometry_msgs::Point &a, const geometry_msgs::Point &b)
void	publishStatusUpdate (const uint8_t &status)
void	resetWaypoints ()

Private Attributes
double	close_enough_
double	frequency_
geometry_msgs::PoseStamped	goal_
double	goal_timeout_
bool	idle_status_update_sent_
enum yocs::WaypointsGoalNode:: { ... }	mode_
actionlib::SimpleActionClient< move_base_msgs::MoveBaseAction >	move_base_ac_
ros::Subscriber	nav_ctrl_sub_
const geometry_msgs::PoseStamped	NOWHERE
std::string	robot_frame_
enum yocs::WaypointsGoalNode:: { ... }	state_
ros::Publisher	status_pub_
tf::TransformListener	tf_listener_
yocs_msgs::TrajectoryList	traj_list_
ros::Subscriber	trajectories_sub_
std::vector< geometry_msgs::PoseStamped >	waypoints_
std::vector< geometry_msgs::PoseStamped >::iterator	waypoints_it_
ros::Subscriber	waypoints_sub_
std::string	world_frame_
yocs_msgs::WaypointList	wp_list_

Detailed Description

Definition at line 32 of file waypoints_navi.hpp.

Member Enumeration Documentation

anonymous enum

anonymous enum

private

Enumerator
NONE
GOAL
LOOP

Definition at line 51 of file waypoints_navi.hpp.

anonymous enum

anonymous enum

private

Enumerator
IDLE
START
ACTIVE
COMPLETED

Definition at line 56 of file waypoints_navi.hpp.

Constructor & Destructor Documentation

WaypointsGoalNode()

yocs::WaypointsGoalNode::WaypointsGoalNode

(

)

Definition at line 17 of file waypoints_navi.cpp.

~WaypointsGoalNode()

yocs::WaypointsGoalNode::~WaypointsGoalNode

(

)

Definition at line 26 of file waypoints_navi.cpp.

Member Function Documentation

cancelAllGoals()

bool yocs::WaypointsGoalNode::cancelAllGoals ( double  timeout = 2.0 )

private

Definition at line 151 of file waypoints_navi.cpp.

equals() [1/2]

bool yocs::WaypointsGoalNode::equals ( const geometry_msgs::PoseStamped &  a, const geometry_msgs::PoseStamped &  b  )

private

Definition at line 364 of file waypoints_navi.cpp.

equals() [2/2]

bool yocs::WaypointsGoalNode::equals ( const geometry_msgs::Point &  a, const geometry_msgs::Point &  b  )

private

Definition at line 372 of file waypoints_navi.cpp.

init()

bool yocs::WaypointsGoalNode::init

(

)

Definition at line 29 of file waypoints_navi.cpp.

navCtrlCB()

void yocs::WaypointsGoalNode::navCtrlCB

(

const yocs_msgs::NavigationControl::ConstPtr &

nav_ctrl

)

Definition at line 68 of file waypoints_navi.cpp.

publishStatusUpdate()

void yocs::WaypointsGoalNode::publishStatusUpdate ( const uint8_t &  status )

private

Definition at line 377 of file waypoints_navi.cpp.

resetWaypoints()

void yocs::WaypointsGoalNode::resetWaypoints ( )

private

Definition at line 180 of file waypoints_navi.cpp.

spin()

void yocs::WaypointsGoalNode::spin

(

)

Definition at line 189 of file waypoints_navi.cpp.

trajectoriesCB()

void yocs::WaypointsGoalNode::trajectoriesCB

(

const yocs_msgs::TrajectoryList::ConstPtr &

trajs

)

Definition at line 62 of file waypoints_navi.cpp.

waypointsCB()

void yocs::WaypointsGoalNode::waypointsCB

(

const yocs_msgs::WaypointList::ConstPtr &

wps

)

Definition at line 56 of file waypoints_navi.cpp.

Member Data Documentation

close_enough_

double yocs::WaypointsGoalNode::close_enough_

private

Definition at line 63 of file waypoints_navi.hpp.

frequency_

double yocs::WaypointsGoalNode::frequency_

private

Definition at line 62 of file waypoints_navi.hpp.

goal_

geometry_msgs::PoseStamped yocs::WaypointsGoalNode::goal_

private

Definition at line 71 of file waypoints_navi.hpp.

goal_timeout_

double yocs::WaypointsGoalNode::goal_timeout_

private

Definition at line 64 of file waypoints_navi.hpp.

idle_status_update_sent_

bool yocs::WaypointsGoalNode::idle_status_update_sent_

private

Definition at line 82 of file waypoints_navi.hpp.

mode_

enum { ... } yocs::WaypointsGoalNode::mode_

move_base_ac_

actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> yocs::WaypointsGoalNode::move_base_ac_

private

Definition at line 84 of file waypoints_navi.hpp.

nav_ctrl_sub_

ros::Subscriber yocs::WaypointsGoalNode::nav_ctrl_sub_

private

Definition at line 80 of file waypoints_navi.hpp.

NOWHERE

const geometry_msgs::PoseStamped yocs::WaypointsGoalNode::NOWHERE

private

Definition at line 49 of file waypoints_navi.hpp.

robot_frame_

std::string yocs::WaypointsGoalNode::robot_frame_

private

Definition at line 65 of file waypoints_navi.hpp.

state_

enum { ... } yocs::WaypointsGoalNode::state_

status_pub_

ros::Publisher yocs::WaypointsGoalNode::status_pub_

private

Definition at line 81 of file waypoints_navi.hpp.

tf_listener_

tf::TransformListener yocs::WaypointsGoalNode::tf_listener_

private

Definition at line 76 of file waypoints_navi.hpp.

traj_list_

yocs_msgs::TrajectoryList yocs::WaypointsGoalNode::traj_list_

private

Definition at line 74 of file waypoints_navi.hpp.

trajectories_sub_

ros::Subscriber yocs::WaypointsGoalNode::trajectories_sub_

private

Definition at line 78 of file waypoints_navi.hpp.

waypoints_

std::vector<geometry_msgs::PoseStamped> yocs::WaypointsGoalNode::waypoints_

private

Definition at line 68 of file waypoints_navi.hpp.

waypoints_it_

std::vector<geometry_msgs::PoseStamped>::iterator yocs::WaypointsGoalNode::waypoints_it_

private

Definition at line 69 of file waypoints_navi.hpp.

waypoints_sub_

ros::Subscriber yocs::WaypointsGoalNode::waypoints_sub_

private

Definition at line 77 of file waypoints_navi.hpp.

world_frame_

std::string yocs::WaypointsGoalNode::world_frame_

private

Definition at line 66 of file waypoints_navi.hpp.

wp_list_

yocs_msgs::WaypointList yocs::WaypointsGoalNode::wp_list_

private

Definition at line 73 of file waypoints_navi.hpp.

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

• waypoints_navi.hpp
• waypoints_navi.cpp