Class CpWaypointNavigatorBase

Defined in File cp_waypoints_navigator_base.hpp

Inheritance Relationships

Base Type

public smacc2::ISmaccComponent

Derived Type

public cl_nav2z::CpWaypointNavigator (Class CpWaypointNavigator)

Class Documentation

class CpWaypointNavigatorBase : public smacc2::ISmaccComponent 

Subclassed by cl_nav2z::CpWaypointNavigator

Public Functions

CpWaypointNavigatorBase()

virtual ~CpWaypointNavigatorBase()

void onInitialize() override

void loadWayPointsFromFile(std::string filepath)

void loadWayPointsFromFile2(std::string filepath)

void setWaypoints(const std::vector<geometry_msgs::msg::Pose> &waypoints)

void setWaypoints(const std::vector<Pose2D> &waypoints)

const std::vector<geometry_msgs::msg::Pose> &getWaypoints() const

const std::vector<std::string> &getWaypointNames() const

std::optional<geometry_msgs::msg::Pose> getNamedPose(std::string name) const

geometry_msgs::msg::Pose getPose(int index) const

geometry_msgs::msg::Pose getCurrentPose() const

long getCurrentWaypointIndex() const

std::optional<std::string> getCurrentWaypointName() const

void rewind(int count)

void forward(int count)

void seekName(std::string name)

void loadWaypointsFromYamlParameter(std::string parameter_name, std::string yaml_file_package_name)

void notifyGoalReached()

Public Members

WaypointEventDispatcher waypointsEventDispatcher

long currentWaypoint_

Protected Functions

void insertWaypoint(int index, geometry_msgs::msg::Pose &newpose)

void removeWaypoint(int index)

Protected Attributes

std::vector<geometry_msgs::msg::Pose> waypoints_

std::vector<std::string> waypointsNames_