LocalGuidance
A library that generates velocity references to follow a path.
local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface Class Referenceabstract

#include <LocoCtrlInfoInterface.hpp>

Inheritance diagram for local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface:
Inheritance graph

Public Types

using LocomotionController = navigation_common::LocomotionControllerLocalGuidance
 
using LocoCtrlInfoInterfacePtr = std::unique_ptr< LocoCtrlInfoInterface >
 

Public Member Functions

 LocoCtrlInfoInterface (ros::NodeHandle &nodeHandle, const LocomotionController &locomotionController)
 
virtual ~LocoCtrlInfoInterface ()=default
 
void getLocomotionController (LocomotionController *locomotionController) const
 
LocomotionController getLocomotionController () const
 
std::string getLocomotionControllerName () const
 
virtual bool stop ()=0
 
bool activateModeIfPresent ()
 
virtual bool activateMode ()=0
 
virtual bool hasMode () const =0
 
bool activateSubModeIfPresent ()
 
virtual bool activateSubMode ()=0
 
virtual bool hasSubMode () const =0
 
virtual bool requiresToTakeOverTwist () const =0
 
virtual std::string getInfo () const
 

Protected Attributes

ros::NodeHandle & nodeHandle_
 Ros node handle. More...
 
const LocomotionController locomotionController_
 Locomotion controller info. More...
 
const ros::Time creationTime_
 Holds the time when this locomotion controller interface was instantieted. More...
 

Member Typedef Documentation

◆ LocoCtrlInfoInterfacePtr

◆ LocomotionController

Constructor & Destructor Documentation

◆ LocoCtrlInfoInterface()

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

Constructor.

◆ ~LocoCtrlInfoInterface()

virtual local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::~LocoCtrlInfoInterface ( )
virtualdefault

Destructor.

Member Function Documentation

◆ activateMode()

virtual bool local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::activateMode ( )
pure virtual

◆ activateModeIfPresent()

bool local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::activateModeIfPresent ( )

Activates the mode of the locomotion controller, if one is present. Prefer to use this function as it combines together hasMode() and activateMode().

Returns
true in case of success (even if there is no mode to activate).

◆ activateSubMode()

virtual bool local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::activateSubMode ( )
pure virtual

◆ activateSubModeIfPresent()

bool local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::activateSubModeIfPresent ( )

Activates the sub-mode of the locomotion controller, if one is present. Prefer to use this function as it combines together hasSubMode() and activateSubMode().

Returns
true in case of success (even if there is no sub-mode to activate).

◆ getInfo()

virtual std::string local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::getInfo ( ) const
virtual

Provides general information about this LocoCtrlInfoInterface.

Returns
string with general information about the locomotion controller interface.

◆ getLocomotionController() [1/2]

void local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::getLocomotionController ( LocomotionController locomotionController) const

Returns the current structure holding info about the locomotion controller.

Parameters
[out]locomotionControllerinfo about the locomotion controller.

◆ getLocomotionController() [2/2]

LocomotionController local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::getLocomotionController ( ) const

Returns the current structure holding info about the locomotion controller.

Returns
info about the locomotion controller.

◆ getLocomotionControllerName()

std::string local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::getLocomotionControllerName ( ) const

Returns the name of the locomotion controller.

Returns
name of the locomotion controller.

◆ hasMode()

virtual bool local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::hasMode ( ) const
pure virtual

◆ hasSubMode()

virtual bool local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::hasSubMode ( ) const
pure virtual

◆ requiresToTakeOverTwist()

virtual bool local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::requiresToTakeOverTwist ( ) const
pure virtual

◆ stop()

virtual bool local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::stop ( )
pure virtual

Member Data Documentation

◆ creationTime_

const ros::Time local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::creationTime_
protected

Holds the time when this locomotion controller interface was instantieted.

◆ locomotionController_

const LocomotionController local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::locomotionController_
protected

Locomotion controller info.

◆ nodeHandle_

ros::NodeHandle& local_guidance_loco_ctrl_manager::LocoCtrlInfoInterface::nodeHandle_
protected

Ros node handle.


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