The MeshControllerExecution binds a mesh to the AbstractControllerExecution and uses the mbf_mesh_core/MeshController class as base plugin interface. More...

#include <mesh_controller_execution.h>

Inheritance diagram for mbf_mesh_nav::MeshControllerExecution:

[legend]

Public Types
typedef boost::shared_ptr< mesh_map::MeshMap >	MeshPtr

Public Types inherited from mbf_abstract_nav::AbstractControllerExecution
enum	ControllerState

typedef boost::shared_ptr< AbstractControllerExecution >	Ptr

Public Member Functions
	MeshControllerExecution (const std::string name, const mbf_mesh_core::MeshController::Ptr &controller_ptr, const ros::Publisher &vel_pub, const ros::Publisher &goal_pub, const TFPtr &tf_listener_ptr, const MeshPtr &mesh_ptr, const MoveBaseFlexConfig &config)
	Constructor. More...

virtual	~MeshControllerExecution ()
	Destructor. More...

Public Member Functions inherited from mbf_abstract_nav::AbstractControllerExecution
	AbstractControllerExecution (const std::string &name, const mbf_abstract_core::AbstractController::Ptr &controller_ptr, const ros::Publisher &vel_pub, const ros::Publisher &goal_pub, const TFPtr &tf_listener_ptr, const MoveBaseFlexConfig &config)

virtual bool	cancel ()

ros::Time	getLastPluginCallTime () const

ControllerState	getState () const

geometry_msgs::TwistStamped	getVelocityCmd () const

bool	isMoving () const

bool	isPatienceExceeded () const

void	reconfigure (const MoveBaseFlexConfig &config)

bool	setControllerFrequency (double frequency)

void	setNewPlan (const std::vector< geometry_msgs::PoseStamped > &plan, bool tolerance_from_action=false, double action_dist_tolerance=1.0, double action_angle_tolerance=3.1415)

virtual bool	start ()

virtual	~AbstractControllerExecution ()

Public Member Functions inherited from mbf_abstract_nav::AbstractExecutionBase
	AbstractExecutionBase (const std::string &name)

const std::string &	getMessage () const

const std::string &	getName () const

uint32_t	getOutcome () const

void	join ()

virtual void	postRun ()

virtual void	preRun ()

virtual void	reconfigure (MoveBaseFlexConfig &_cfg)

virtual void	stop ()

boost::cv_status	waitForStateUpdate (boost::chrono::microseconds const &duration)

virtual	~AbstractExecutionBase ()

Protected Member Functions
virtual uint32_t	computeVelocityCmd (const geometry_msgs::PoseStamped &robot_pose, const geometry_msgs::TwistStamped &robot_velocity, geometry_msgs::TwistStamped &vel_cmd, std::string &message)
	Request plugin for a new velocity command. We override this method so we can lock the local mesh before calling the planner. More...

Protected Member Functions inherited from mbf_abstract_nav::AbstractControllerExecution
virtual void	run ()

virtual bool	safetyCheck ()

void	setVelocityCmd (const geometry_msgs::TwistStamped &vel_cmd_stamped)

Private Member Functions
mbf_abstract_nav::MoveBaseFlexConfig	toAbstract (const MoveBaseFlexConfig &config)

Private Attributes
std::string	controller_name_
	name of the controller plugin assigned by the class loader More...

bool	lock_mesh_
	Whether to lock mesh before calling the controller. More...

const MeshPtr &	mesh_ptr_
	mesh for 3d navigation planning More...

Additional Inherited Members
Public Attributes inherited from mbf_abstract_nav::AbstractControllerExecution
	ARRIVED_GOAL

	CANCELED

	EMPTY_PLAN

	GOT_LOCAL_CMD

	INITIALIZED

	INTERNAL_ERROR

	INVALID_PLAN

	MAX_RETRIES

	NO_LOCAL_CMD

	NO_PLAN

	PAT_EXCEEDED

	PLANNING

	STARTED

	STOPPED

Static Public Attributes inherited from mbf_abstract_nav::AbstractControllerExecution
static const double	DEFAULT_CONTROLLER_FREQUENCY

Protected Attributes inherited from mbf_abstract_nav::AbstractControllerExecution
mbf_abstract_core::AbstractController::Ptr	controller_

std::string	global_frame_

ros::Time	last_call_time_

ros::Time	last_valid_cmd_time_

int	max_retries_

ros::Duration	patience_

std::string	plugin_name_

std::string	robot_frame_

ros::Time	start_time_

const TFPtr &	tf_listener_ptr

Protected Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
bool	cancel_

boost::condition_variable	condition_

std::string	message_

std::string	name_

uint32_t	outcome_

boost::thread	thread_

Detailed Description

The MeshControllerExecution binds a mesh to the AbstractControllerExecution and uses the mbf_mesh_core/MeshController class as base plugin interface.

Definition at line 55 of file mesh_controller_execution.h.

Member Typedef Documentation

◆ MeshPtr

typedef boost::shared_ptr<mesh_map::MeshMap> mbf_mesh_nav::MeshControllerExecution::MeshPtr

Definition at line 58 of file mesh_controller_execution.h.

Constructor & Destructor Documentation

◆ MeshControllerExecution()

mbf_mesh_nav::MeshControllerExecution::MeshControllerExecution	(	const std::string	name,
		const mbf_mesh_core::MeshController::Ptr &	controller_ptr,
		const ros::Publisher &	vel_pub,
		const ros::Publisher &	goal_pub,
		const TFPtr &	tf_listener_ptr,
		const MeshPtr &	mesh_ptr,
		const MoveBaseFlexConfig &	config
	)

Constructor.

Parameters

name	The user defined name of the corresponding plugin
controller_ptr	The shared pointer to the plugin object
vel_pub	The velocity publisher for the controller execution
goal_pub	The current goal publisher fir the controller execution
tf_listener_ptr	A shared pointer to the transform listener
mesh_ptr	A pointer to the mesh map object
config	The current config object
setup_fn	A setup function called before execution
cleanup_fn	A cleanup function called after execution

Definition at line 41 of file mesh_controller_execution.cpp.

◆ ~MeshControllerExecution()

mbf_mesh_nav::MeshControllerExecution::~MeshControllerExecution ( )

virtual

Destructor.

Definition at line 53 of file mesh_controller_execution.cpp.

Member Function Documentation

◆ computeVelocityCmd()

uint32_t mbf_mesh_nav::MeshControllerExecution::computeVelocityCmd	(	const geometry_msgs::PoseStamped &	robot_pose,
		const geometry_msgs::TwistStamped &	robot_velocity,
		geometry_msgs::TwistStamped &	vel_cmd,
		std::string &	message
	)

protectedvirtual

Request plugin for a new velocity command. We override this method so we can lock the local mesh before calling the planner.

Parameters

robot_pose	The current pose of the robot.
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 in the ExePath action result and plugin's header.

Reimplemented from mbf_abstract_nav::AbstractControllerExecution.

Definition at line 70 of file mesh_controller_execution.cpp.

◆ toAbstract()

mbf_abstract_nav::MoveBaseFlexConfig mbf_mesh_nav::MeshControllerExecution::toAbstract ( const MoveBaseFlexConfig & config )

private

Definition at line 57 of file mesh_controller_execution.cpp.

Member Data Documentation

◆ controller_name_

std::string mbf_mesh_nav::MeshControllerExecution::controller_name_

private

name of the controller plugin assigned by the class loader

Definition at line 110 of file mesh_controller_execution.h.

◆ lock_mesh_

bool mbf_mesh_nav::MeshControllerExecution::lock_mesh_

private

Whether to lock mesh before calling the controller.

Definition at line 107 of file mesh_controller_execution.h.

◆ mesh_ptr_

const MeshPtr& mbf_mesh_nav::MeshControllerExecution::mesh_ptr_

private

mesh for 3d navigation planning

Definition at line 104 of file mesh_controller_execution.h.

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

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MeshPtr

Constructor & Destructor Documentation

◆ MeshControllerExecution()

◆ ~MeshControllerExecution()

Member Function Documentation

◆ computeVelocityCmd()

◆ toAbstract()

Member Data Documentation

◆ controller_name_

◆ lock_mesh_

◆ mesh_ptr_