Public Member Functions | Private Member Functions | Private Attributes | List of all members
RobotNavigator Class Reference

#include <RobotNavigator.h>

Public Member Functions

void receiveExploreGoal (const nav2d_navigator::ExploreGoal::ConstPtr &goal)
 
void receiveGetMapGoal (const nav2d_navigator::GetFirstMapGoal::ConstPtr &goal)
 
void receiveLocalizeGoal (const nav2d_navigator::LocalizeGoal::ConstPtr &goal)
 
void receiveMoveGoal (const nav2d_navigator::MoveToPosition2DGoal::ConstPtr &goal)
 
bool receivePause (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 
bool receiveStop (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
 
 RobotNavigator ()
 
 ~RobotNavigator ()
 

Private Member Functions

bool correctGoalPose ()
 
bool createPlan ()
 
bool generateCommand ()
 
bool getMap ()
 
bool isLocalized ()
 
bool preparePlan ()
 
void publishPlan ()
 
bool setCurrentPosition ()
 
void stop ()
 

Private Attributes

unsigned int mCellInflationRadius
 
unsigned int mCellRobotRadius
 
ros::Publisher mCommandPublisher
 
double mCommandTargetDistance
 
signed char mCostLethal
 
signed char mCostObstacle
 
double mCurrentDirection
 
GridMap mCurrentMap
 
double * mCurrentPlan
 
double mCurrentPositionX
 
double mCurrentPositionY
 
double mExplorationGoalDistance
 
boost::shared_ptr< ExplorationPlanner > mExplorationPlanner
 
std::string mExplorationStrategy
 
ExploreActionServer * mExploreActionServer
 
std::string mExploreActionTopic
 
double mFrequency
 
GetMapActionServer * mGetMapActionServer
 
std::string mGetMapActionTopic
 
ros::ServiceClient mGetMapClient
 
unsigned int mGoalPoint
 
ros::Subscriber mGoalSubscriber
 
bool mHasNewMap
 
double mInflationRadius
 
MapInflationTool mInflationTool
 
bool mIsPaused
 
bool mIsStopped
 
LocalizeActionServer * mLocalizeActionServer
 
std::string mLocalizeActionTopic
 
std::string mMapFrame
 
ros::Publisher mMarkerPublisher
 
double mMaxReplanningPeriod
 
double mMinReplanningPeriod
 
MoveActionServer * mMoveActionServer
 
std::string mMoveActionTopic
 
double mNavigationGoalAngle
 
double mNavigationGoalDistance
 
double mNavigationHomingDistance
 
ros::ServiceServer mPauseServer
 
PlanLoader * mPlanLoader
 
ros::Publisher mPlanPublisher
 
std::string mRobotFrame
 
int mRobotID
 
double mRobotRadius
 
unsigned int mStartPoint
 
int mStatus
 
ros::ServiceServer mStopServer
 
tf::TransformListener mTfListener
 

Detailed Description

Definition at line 25 of file RobotNavigator.h.

Constructor & Destructor Documentation

◆ RobotNavigator()

RobotNavigator::RobotNavigator ( )

Definition at line 16 of file RobotNavigator.cpp.

◆ ~RobotNavigator()

RobotNavigator::~RobotNavigator ( )

Definition at line 99 of file RobotNavigator.cpp.

Member Function Documentation

◆ correctGoalPose()

bool RobotNavigator::correctGoalPose ( )
private

Definition at line 357 of file RobotNavigator.cpp.

◆ createPlan()

bool RobotNavigator::createPlan ( )
private

Definition at line 197 of file RobotNavigator.cpp.

◆ generateCommand()

bool RobotNavigator::generateCommand ( )
private

Definition at line 419 of file RobotNavigator.cpp.

◆ getMap()

bool RobotNavigator::getMap ( )
private

Definition at line 109 of file RobotNavigator.cpp.

◆ isLocalized()

bool RobotNavigator::isLocalized ( )
private

Definition at line 921 of file RobotNavigator.cpp.

◆ preparePlan()

bool RobotNavigator::preparePlan ( )
private

Definition at line 174 of file RobotNavigator.cpp.

◆ publishPlan()

void RobotNavigator::publishPlan ( )
private

Definition at line 312 of file RobotNavigator.cpp.

◆ receiveExploreGoal()

void RobotNavigator::receiveExploreGoal ( const nav2d_navigator::ExploreGoal::ConstPtr &  goal)

Definition at line 792 of file RobotNavigator.cpp.

◆ receiveGetMapGoal()

void RobotNavigator::receiveGetMapGoal ( const nav2d_navigator::GetFirstMapGoal::ConstPtr &  goal)

Definition at line 491 of file RobotNavigator.cpp.

◆ receiveLocalizeGoal()

void RobotNavigator::receiveLocalizeGoal ( const nav2d_navigator::LocalizeGoal::ConstPtr &  goal)

Definition at line 582 of file RobotNavigator.cpp.

◆ receiveMoveGoal()

void RobotNavigator::receiveMoveGoal ( const nav2d_navigator::MoveToPosition2DGoal::ConstPtr &  goal)

Definition at line 636 of file RobotNavigator.cpp.

◆ receivePause()

bool RobotNavigator::receivePause ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)

Definition at line 151 of file RobotNavigator.cpp.

◆ receiveStop()

bool RobotNavigator::receiveStop ( std_srvs::Trigger::Request &  req,
std_srvs::Trigger::Response &  res 
)

Definition at line 143 of file RobotNavigator.cpp.

◆ setCurrentPosition()

bool RobotNavigator::setCurrentPosition ( )
private

Definition at line 926 of file RobotNavigator.cpp.

◆ stop()

void RobotNavigator::stop ( )
private

Definition at line 408 of file RobotNavigator.cpp.

Member Data Documentation

◆ mCellInflationRadius

unsigned int RobotNavigator::mCellInflationRadius
private

Definition at line 95 of file RobotNavigator.h.

◆ mCellRobotRadius

unsigned int RobotNavigator::mCellRobotRadius
private

Definition at line 96 of file RobotNavigator.h.

◆ mCommandPublisher

ros::Publisher RobotNavigator::mCommandPublisher
private

Definition at line 54 of file RobotNavigator.h.

◆ mCommandTargetDistance

double RobotNavigator::mCommandTargetDistance
private

Definition at line 101 of file RobotNavigator.h.

◆ mCostLethal

signed char RobotNavigator::mCostLethal
private

Definition at line 99 of file RobotNavigator.h.

◆ mCostObstacle

signed char RobotNavigator::mCostObstacle
private

Definition at line 98 of file RobotNavigator.h.

◆ mCurrentDirection

double RobotNavigator::mCurrentDirection
private

Definition at line 81 of file RobotNavigator.h.

◆ mCurrentMap

GridMap RobotNavigator::mCurrentMap
private

Definition at line 89 of file RobotNavigator.h.

◆ mCurrentPlan

double* RobotNavigator::mCurrentPlan
private

Definition at line 90 of file RobotNavigator.h.

◆ mCurrentPositionX

double RobotNavigator::mCurrentPositionX
private

Definition at line 82 of file RobotNavigator.h.

◆ mCurrentPositionY

double RobotNavigator::mCurrentPositionY
private

Definition at line 83 of file RobotNavigator.h.

◆ mExplorationGoalDistance

double RobotNavigator::mExplorationGoalDistance
private

Definition at line 105 of file RobotNavigator.h.

◆ mExplorationPlanner

boost::shared_ptr<ExplorationPlanner> RobotNavigator::mExplorationPlanner
private

Definition at line 88 of file RobotNavigator.h.

◆ mExplorationStrategy

std::string RobotNavigator::mExplorationStrategy
private

Definition at line 87 of file RobotNavigator.h.

◆ mExploreActionServer

ExploreActionServer* RobotNavigator::mExploreActionServer
private

Definition at line 67 of file RobotNavigator.h.

◆ mExploreActionTopic

std::string RobotNavigator::mExploreActionTopic
private

Definition at line 62 of file RobotNavigator.h.

◆ mFrequency

double RobotNavigator::mFrequency
private

Definition at line 92 of file RobotNavigator.h.

◆ mGetMapActionServer

GetMapActionServer* RobotNavigator::mGetMapActionServer
private

Definition at line 68 of file RobotNavigator.h.

◆ mGetMapActionTopic

std::string RobotNavigator::mGetMapActionTopic
private

Definition at line 63 of file RobotNavigator.h.

◆ mGetMapClient

ros::ServiceClient RobotNavigator::mGetMapClient
private

Definition at line 51 of file RobotNavigator.h.

◆ mGoalPoint

unsigned int RobotNavigator::mGoalPoint
private

Definition at line 79 of file RobotNavigator.h.

◆ mGoalSubscriber

ros::Subscriber RobotNavigator::mGoalSubscriber
private

Definition at line 52 of file RobotNavigator.h.

◆ mHasNewMap

bool RobotNavigator::mHasNewMap
private

Definition at line 74 of file RobotNavigator.h.

◆ mInflationRadius

double RobotNavigator::mInflationRadius
private

Definition at line 93 of file RobotNavigator.h.

◆ mInflationTool

MapInflationTool RobotNavigator::mInflationTool
private

Definition at line 86 of file RobotNavigator.h.

◆ mIsPaused

bool RobotNavigator::mIsPaused
private

Definition at line 75 of file RobotNavigator.h.

◆ mIsStopped

bool RobotNavigator::mIsStopped
private

Definition at line 76 of file RobotNavigator.h.

◆ mLocalizeActionServer

LocalizeActionServer* RobotNavigator::mLocalizeActionServer
private

Definition at line 69 of file RobotNavigator.h.

◆ mLocalizeActionTopic

std::string RobotNavigator::mLocalizeActionTopic
private

Definition at line 64 of file RobotNavigator.h.

◆ mMapFrame

std::string RobotNavigator::mMapFrame
private

Definition at line 59 of file RobotNavigator.h.

◆ mMarkerPublisher

ros::Publisher RobotNavigator::mMarkerPublisher
private

Definition at line 55 of file RobotNavigator.h.

◆ mMaxReplanningPeriod

double RobotNavigator::mMaxReplanningPeriod
private

Definition at line 107 of file RobotNavigator.h.

◆ mMinReplanningPeriod

double RobotNavigator::mMinReplanningPeriod
private

Definition at line 106 of file RobotNavigator.h.

◆ mMoveActionServer

MoveActionServer* RobotNavigator::mMoveActionServer
private

Definition at line 66 of file RobotNavigator.h.

◆ mMoveActionTopic

std::string RobotNavigator::mMoveActionTopic
private

Definition at line 61 of file RobotNavigator.h.

◆ mNavigationGoalAngle

double RobotNavigator::mNavigationGoalAngle
private

Definition at line 103 of file RobotNavigator.h.

◆ mNavigationGoalDistance

double RobotNavigator::mNavigationGoalDistance
private

Definition at line 102 of file RobotNavigator.h.

◆ mNavigationHomingDistance

double RobotNavigator::mNavigationHomingDistance
private

Definition at line 104 of file RobotNavigator.h.

◆ mPauseServer

ros::ServiceServer RobotNavigator::mPauseServer
private

Definition at line 57 of file RobotNavigator.h.

◆ mPlanLoader

PlanLoader* RobotNavigator::mPlanLoader
private

Definition at line 71 of file RobotNavigator.h.

◆ mPlanPublisher

ros::Publisher RobotNavigator::mPlanPublisher
private

Definition at line 53 of file RobotNavigator.h.

◆ mRobotFrame

std::string RobotNavigator::mRobotFrame
private

Definition at line 60 of file RobotNavigator.h.

◆ mRobotID

int RobotNavigator::mRobotID
private

Definition at line 78 of file RobotNavigator.h.

◆ mRobotRadius

double RobotNavigator::mRobotRadius
private

Definition at line 94 of file RobotNavigator.h.

◆ mStartPoint

unsigned int RobotNavigator::mStartPoint
private

Definition at line 80 of file RobotNavigator.h.

◆ mStatus

int RobotNavigator::mStatus
private

Definition at line 77 of file RobotNavigator.h.

◆ mStopServer

ros::ServiceServer RobotNavigator::mStopServer
private

Definition at line 56 of file RobotNavigator.h.

◆ mTfListener

tf::TransformListener RobotNavigator::mTfListener
private

Definition at line 50 of file RobotNavigator.h.

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

nav2d_navigator
Author(s): Sebastian Kasperski
autogenerated on Wed Mar 2 2022 00:37:37