LocalGuidance
A library that generates velocity references to follow a path.
local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions Class Reference

#include <LocoCtrlInfoEthVersions.hpp>

Inheritance diagram for local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions:
Inheritance graph

Public Types

using LocoCtrlInfoEthVersionsPtr = std::unique_ptr< LocoCtrlInfoEthVersions >
 
- Public Types inherited from local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface
using LocomotionController = navigation_common::LocomotionControllerLocalGuidance
 
using LocoCtrlInfoInterfacePtr = std::unique_ptr< LocoCtrlInfoInterface >
 

Public Member Functions

 ~LocoCtrlInfoEthVersions () override=default
 
bool stop () override
 
bool activateMode () override
 
bool hasMode () const override
 
bool activateSubMode () override
 
bool hasSubMode () const override
 
bool requiresToTakeOverTwist () const override
 
- Public Member Functions inherited from local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface
 LocoCtrlInfoInterface (ros::NodeHandle &nodeHandle, const LocomotionController &locomotionController)
 
virtual ~LocoCtrlInfoInterface ()=default
 
void getLocomotionController (LocomotionController *locomotionController) const
 
LocomotionController getLocomotionController () const
 
std::string getLocomotionControllerName () const
 
bool activateModeIfPresent ()
 
bool activateSubModeIfPresent ()
 

Static Public Member Functions

static LocoCtrlInfoEthVersionsPtr create (ros::NodeHandle &nodeHandle, const LocomotionController &locomotionController)
 

Private Member Functions

 LocoCtrlInfoEthVersions (ros::NodeHandle &nodeHandle, const LocomotionController &locomotionController)
 
bool init ()
 
bool goToMode (const std::string &mode)
 

Private Attributes

std::string standModeName_
 Name of the stand mode. More...
 
ros::ServiceClient goToModeClient_
 Locomotion controller go to mode client. More...
 

Additional Inherited Members

- Protected Attributes inherited from local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface
ros::NodeHandle & nodeHandle_
 Ros node handle. More...
 
const LocomotionController locomotionController_
 Locomotion controller info. More...
 

Member Typedef Documentation

Constructor & Destructor Documentation

local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions::~LocoCtrlInfoEthVersions ( )
overridedefault

Destructor.

local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions::LocoCtrlInfoEthVersions ( ros::NodeHandle &  nodeHandle,
const LocomotionController locomotionController 
)
explicitprivate

Clients can't invoke the constructor directly: use function create() instead

Parameters
[in]nodeHandleROS node handle.
[in]locomotionControllerlocomotion controller information.

Member Function Documentation

bool local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions::activateMode ( )
overridevirtual

Activates the mode of the locomotion controller.

Returns
true in case of success.

Implements local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface.

bool local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions::activateSubMode ( )
overridevirtual

Activates the sub-mode of the locomotion controller.

Returns
true in case of success.

Implements local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface.

static LocoCtrlInfoEthVersionsPtr local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions::create ( ros::NodeHandle &  nodeHandle,
const LocomotionController locomotionController 
)
static

Factory function to be used to create and initialize an object of type LocoCtrlInfoEthVersions.

Parameters
[in]nodeHandleROS node handle.
[in]locomotionControllerlocomotion controller information.
Returns
nullptr in case of error, an actual object otherwise.
bool local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions::goToMode ( const std::string &  mode)
private

Tries to switch to specified mode.

Parameters
[in]moderequested mode.
Returns
true in cas of success.
bool local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions::hasMode ( ) const
overridevirtual

Tells if the locomotion controller has a mode that could be activated by activateMode().

Returns

Implements local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface.

bool local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions::hasSubMode ( ) const
overridevirtual

Tells if the locomotion controller has a sub-mode that could be activated by activateSubMode().

Returns

Implements local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface.

bool local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions::init ( )
private

Initializes the object and reads parameters from yaml file.

Returns
true in case of success.
bool local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions::requiresToTakeOverTwist ( ) const
overridevirtual

Tells if the locomotion controller needs to take over the twist, i.e. it accepts velocity commands.

Returns

Implements local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface.

bool local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions::stop ( )
overridevirtual

Stops locomotion controller.

Returns
true in case of success.

Implements local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface.

Member Data Documentation

ros::ServiceClient local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions::goToModeClient_
private

Locomotion controller go to mode client.

std::string local_guidance_loco_ctrl_manager::LocoCtrlInfoEthVersions::standModeName_
private

Name of the stand mode.


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