Class WaypointNavigator

Defined in File waypoints_navigator.hpp

Inheritance Relationships

Base Type

public smacc2::ISmaccComponent

Class Documentation

class WaypointNavigator : public smacc2::ISmaccComponent 

Public Functions

WaypointNavigator()

void onInitialize() override

template<typename TOrthogonal, typename TSourceObject> inline void onOrthogonalAllocation()

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)

std::optional<std::shared_future<std::shared_ptr<rclcpp_action::ClientGoalHandle<nav2_msgs::action::NavigateToPose>>>> sendNextGoal(std::optional<NavigateNextWaypointOptions> options = std::nullopt, cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::WeakPtr callback = cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::WeakPtr())

void stopWaitingResult()

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

long getCurrentWaypointIndex() const

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

void rewind(int count)

void forward(int count)

void seekName(std::string name)

Public Members

WaypointEventDispatcher waypointsEventDispatcher

ClNav2Z *client_

long currentWaypoint_

smacc2::SmaccSignal<void()> onNavigationRequestSucceded

smacc2::SmaccSignal<void()> onNavigationRequestAborted

smacc2::SmaccSignal<void()> onNavigationRequestCancelled