LocalGuidance
A library that generates velocity references to follow a path.
local_guidance_nop::LocalGuidanceNop Class Reference

#include <LocalGuidanceNop.hpp>

Inheritance diagram for local_guidance_nop::LocalGuidanceNop:
Inheritance graph

Public Member Functions

 LocalGuidanceNop (const std::string &localGuidanceControllerName)
 
 LocalGuidanceNop ()=delete
 
 ~LocalGuidanceNop () override=default
 
bool loadParametersFromFile (const std::string &pathYamlFileDefaultParams, const std::string &pathYamlFileOverlyingParams) override
 
bool setDesiredPath (const local_guidance_control_interface::PathConstPtr &pDesiredPath) override
 
bool updateCurrentPath (const local_guidance_control_interface::PathConstPtr &pDesiredPath) override
 
bool setRobotPose (const local_guidance_control_interface::PoseStampedConstPtr &pRobotPose) override
 
void computeControlAction (local_guidance_control_interface::Twist *pTwist) override
 
void reset () override
 
bool getControllerReference (local_guidance_control_interface::PoseStamped *pCurrentReference) const override
 
void getFollowingFeedback (uint16_t *remainingNumberOfSegments, uint16_t *initialNumberOfSegments, double *remainingDistance, double *initialDistance) const override
 
- Public Member Functions inherited from local_guidance_control_interface::LocalGuidanceControlInterface
 LocalGuidanceControlInterface ()=delete
 
 LocalGuidanceControlInterface (const std::string &localGuidanceControllerName)
 
virtual ~LocalGuidanceControlInterface ()=default
 
std::string getLocalGuidanceControllerName () const
 

Private Attributes

local_guidance_control_interface::PathConstPtr pDesiredPath_ {nullptr}
 Desired path the robot should follow. More...
 
bool pathReceivedOnce_ {false}
 

Additional Inherited Members

- Protected Member Functions inherited from local_guidance_control_interface::LocalGuidanceControlInterface
bool loadParametersSectionFromFile (const std::string &pathYamlFileDefaultParams="", const std::string &pathYamlFileOverlyingParams="", const std::string &sectionName="")
 
virtual void printLoadedParameters () const
 
template<typename T >
bool getParameter (const std::string &key, T *pParameter, bool verbose=true) const
 
template<typename T >
parameter (const std::string &key) const
 

Constructor & Destructor Documentation

local_guidance_nop::LocalGuidanceNop::LocalGuidanceNop ( const std::string &  localGuidanceControllerName)
explicit
local_guidance_nop::LocalGuidanceNop::LocalGuidanceNop ( )
delete
local_guidance_nop::LocalGuidanceNop::~LocalGuidanceNop ( )
overridedefault

Member Function Documentation

void local_guidance_nop::LocalGuidanceNop::computeControlAction ( local_guidance_control_interface::Twist pTwist)
overridevirtual

Computes control action.

Parameters
[out]pTwistpointers to resulting control action (expressed as a twist).

Implements local_guidance_control_interface::LocalGuidanceControlInterface.

bool local_guidance_nop::LocalGuidanceNop::getControllerReference ( local_guidance_control_interface::PoseStamped pCurrentReference) const
overridevirtual

Gets the current 3D reference used by the controller, useful for visualization purposes.

Parameters
[out]pCurrentReference.
Returns
true if p_current_reference can be used.

Reimplemented from local_guidance_control_interface::LocalGuidanceControlInterface.

void local_guidance_nop::LocalGuidanceNop::getFollowingFeedback ( uint16_t *  remainingNumberOfSegments,
uint16_t *  initialNumberOfSegments,
double *  remainingDistance,
double *  initialDistance 
) const
overridevirtual

Returns a feedback about the status of the following action.

Parameters
[out]remainingNumberOfSegments
[out]initialNumberOfSegments
[out]remainingDistance
[out]initialDistance

Implements local_guidance_control_interface::LocalGuidanceControlInterface.

bool local_guidance_nop::LocalGuidanceNop::loadParametersFromFile ( const std::string &  pathYamlFileDefaultParams,
const std::string &  pathYamlFileOverlyingParams 
)
overridevirtual

Loads parameters with a default + overlying mechanism. See https://github.com/ethz-asl/ros_best_practices/wiki#parameter-organisation

Parameters
[in]pathYamlFileDefaultParamspath of the file containing default parameters.
[in]pathYamlFileOverlyingParamspath of the file containing parameters to overly on top default ones.

Implements local_guidance_control_interface::LocalGuidanceControlInterface.

void local_guidance_nop::LocalGuidanceNop::reset ( )
overridevirtual

Resets controller internal state.

Implements local_guidance_control_interface::LocalGuidanceControlInterface.

bool local_guidance_nop::LocalGuidanceNop::setDesiredPath ( const local_guidance_control_interface::PathConstPtr pDesiredPath)
overridevirtual

Sets the desired path that should be followed.

Parameters
[in]pDesiredPathdesired path.
Returns
true on success.

Implements local_guidance_control_interface::LocalGuidanceControlInterface.

bool local_guidance_nop::LocalGuidanceNop::setRobotPose ( const local_guidance_control_interface::PoseStampedConstPtr pRobotPose)
overridevirtual

Sets current pose of the robot.

Parameters
[in]pRobotPosecurrent pose of the robot.
Returns
true on success.

Implements local_guidance_control_interface::LocalGuidanceControlInterface.

bool local_guidance_nop::LocalGuidanceNop::updateCurrentPath ( const local_guidance_control_interface::PathConstPtr pDesiredPath)
overridevirtual

Updates the current path that is being followed. Clients should call this function instead of setDesiredPath() when a path is already being followed and it should be just updated.

Parameters
pDesiredPathnew path
Returns
true on success.

Implements local_guidance_control_interface::LocalGuidanceControlInterface.

Member Data Documentation

bool local_guidance_nop::LocalGuidanceNop::pathReceivedOnce_ {false}
private
local_guidance_control_interface::PathConstPtr local_guidance_nop::LocalGuidanceNop::pDesiredPath_ {nullptr}
private

Desired path the robot should follow.


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