local_guidance_loco_ctrl_manager::LocoCtrlInfoFreeGait Class Reference

#include <LocoCtrlInfoFreeGait.hpp>

Inheritance diagram for local_guidance_loco_ctrl_manager::LocoCtrlInfoFreeGait:

Public Types
using	LocoCtrlInfoFreeGaitPtr = std::unique_ptr< LocoCtrlInfoFreeGait >
Public Types inherited from local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface
using	LocomotionController = navigation_common::LocomotionControllerLocalGuidance
using	LocoCtrlInfoInterfacePtr = std::unique_ptr< LocoCtrlInfoInterface >

Public Member Functions
	~LocoCtrlInfoFreeGait () 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 LocoCtrlInfoFreeGaitPtr	create (ros::NodeHandle &nodeHandle, const LocomotionController &locomotionController)

Private Types
using	ExecuteActionActionClient = actionlib::SimpleActionClient< free_gait_msgs::ExecuteActionAction >
using	ExecuteActionActionClientPtr = std::shared_ptr< ExecuteActionActionClient >

Private Member Functions
	LocoCtrlInfoFreeGait (ros::NodeHandle &nodeHandle, const LocomotionController &locomotionController)
bool	init ()

Private Attributes
ExecuteActionActionClientPtr	executeActionActionClient_
	Action client to execute a blocking (until it is completed) free gait action. More...
std::string	executeActionTopicName_
	Holds the topic name of the action topic to execute a free gait action. 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

using local_guidance_loco_ctrl_manager::LocoCtrlInfoFreeGait::ExecuteActionActionClient = actionlib::SimpleActionClient<free_gait_msgs::ExecuteActionAction>

private

using local_guidance_loco_ctrl_manager::LocoCtrlInfoFreeGait::ExecuteActionActionClientPtr = std::shared_ptr<ExecuteActionActionClient>

private

using local_guidance_loco_ctrl_manager::LocoCtrlInfoFreeGait::LocoCtrlInfoFreeGaitPtr = std::unique_ptr<LocoCtrlInfoFreeGait>

Constructor & Destructor Documentation

local_guidance_loco_ctrl_manager::LocoCtrlInfoFreeGait::~LocoCtrlInfoFreeGait ( )

overridedefault

Destructor.

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

explicitprivate

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

Parameters

[in]	nodeHandle	ROS node handle.
[in]	locomotionController	locomotion controller information.

Member Function Documentation

bool local_guidance_loco_ctrl_manager::LocoCtrlInfoFreeGait::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::LocoCtrlInfoFreeGait::activateSubMode ( )

overridevirtual

Activates the sub-mode of the locomotion controller.

Returns

true in case of success.

Implements local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface.

static LocoCtrlInfoFreeGaitPtr local_guidance_loco_ctrl_manager::LocoCtrlInfoFreeGait::create ( ros::NodeHandle &  nodeHandle, const LocomotionController &  locomotionController  )

static

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

Parameters

[in]	nodeHandle	ROS node handle.
[in]	locomotionController	locomotion controller information.

Returns

nullptr in case of error, an actual object otherwise.

bool local_guidance_loco_ctrl_manager::LocoCtrlInfoFreeGait::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::LocoCtrlInfoFreeGait::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::LocoCtrlInfoFreeGait::init ( )

private

Initializes the object and reads parameters from yaml file.

Returns

true in case of success.

bool local_guidance_loco_ctrl_manager::LocoCtrlInfoFreeGait::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::LocoCtrlInfoFreeGait::stop ( )

overridevirtual

Stops locomotion controller.

Returns

true in case of success.

Implements local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface.

Member Data Documentation

ExecuteActionActionClientPtr local_guidance_loco_ctrl_manager::LocoCtrlInfoFreeGait::executeActionActionClient_

private

Action client to execute a blocking (until it is completed) free gait action.

std::string local_guidance_loco_ctrl_manager::LocoCtrlInfoFreeGait::executeActionTopicName_

private

Holds the topic name of the action topic to execute a free gait action.

---

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

• LocoCtrlInfoFreeGait.hpp