LocalGuidance
A library that generates velocity references to follow a path.
navigation_common::PathSegment Class Reference

#include <PathSegment.hpp>

Inheritance diagram for navigation_common::PathSegment:
Inheritance graph

Public Types

using PathSegmentPtr = std::shared_ptr< PathSegment >
 
- Public Types inherited from navigation_common::PathSegmentBase
using PathSegmentBasePtr = std::shared_ptr< PathSegmentBase >
 

Public Member Functions

 PathSegment (const PoseStampedPtr &goal, const LocomotionController &locomotionController, double traversability)
 
 PathSegment (const navigation_msgs::PathSegment &msg)
 
virtual ~PathSegment () override=default
 
double getTraversability () const
 
void setTraversability (const double traversability)
 
void fromRos (const navigation_msgs::PathSegment &msg)
 
navigation_msgs::PathSegment toRos () const
 
PathSegmentBasePtr getDeepCopy () const override
 
- Public Member Functions inherited from navigation_common::PathSegmentBase
 PathSegmentBase ()
 
 PathSegmentBase (PoseStampedPtr goal)
 
 PathSegmentBase (const PoseStamped &goal)
 
 PathSegmentBase (const PathSegmentBasePtr &pathSegmentBase)
 
virtual ~PathSegmentBase ()=default
 

Public Attributes

LocomotionController locomotionController_
 Locomotion controller. More...
 
- Public Attributes inherited from navigation_common::PathSegmentBase
PoseStampedPtr goal_
 Goal. More...
 

Protected Attributes

double traversability_ = 0
 Traversability in [0..1]. More...
 

Additional Inherited Members

- Protected Member Functions inherited from navigation_common::PathSegmentBase
PathSegmentBasePtr getDeepCopyBase () const
 

Member Typedef Documentation

Constructor & Destructor Documentation

navigation_common::PathSegment::PathSegment ( const PoseStampedPtr goal,
const LocomotionController locomotionController,
double  traversability 
)
explicit

Constructor.

Parameters
goalgoal.
locomotionControllerlocomotion controller.
traversabilitytraversability.
navigation_common::PathSegment::PathSegment ( const navigation_msgs::PathSegment msg)
explicit

Constructor.

Parameters
msgros msg.
virtual navigation_common::PathSegment::~PathSegment ( )
overridevirtualdefault

Destructor.

Member Function Documentation

void navigation_common::PathSegment::fromRos ( const navigation_msgs::PathSegment msg)

Imports a ros msg.

Parameters
msgros msg.
PathSegmentBasePtr navigation_common::PathSegment::getDeepCopy ( ) const
overridevirtual

Create a deep copy of this path segment.

Returns
new path segment.

Reimplemented from navigation_common::PathSegmentBase.

double navigation_common::PathSegment::getTraversability ( ) const

Get the traversability.

Returns
Traversability.
void navigation_common::PathSegment::setTraversability ( const double  traversability)

Set the traversability.

Parameters
traversabilityTraversability.
navigation_msgs::PathSegment navigation_common::PathSegment::toRos ( ) const

Exports a ros msg.

Returns
ros msg.

Member Data Documentation

LocomotionController navigation_common::PathSegment::locomotionController_

Locomotion controller.

double navigation_common::PathSegment::traversability_ = 0
protected

Traversability in [0..1].


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