choreographer::ChoreographerNodelet Class Reference

Inheritance diagram for choreographer::ChoreographerNodelet:

Public Types
enum	: FSM::Event {   READY = (1<<0), GOAL_EXEC = (1<<1), GOAL_MOVE = (1<<2), GOAL_STOP = (1<<3),   GOAL_IDLE = (1<<4), GOAL_PREP = (1<<5), GOAL_CANCEL = (1<<6), PLAN_SUCCESS = (1<<7),   PLAN_FAILED = (1<<8), PMC_READY = (1<<9), PMC_TIMEOUT = (1<<10), CONTROL_SUCCESS = (1<<11),   CONTROL_FAILED = (1<<12), TOLERANCE_POS_ENDPOINT = (1<<13), TOLERANCE_POS = (1<<14), TOLERANCE_ATT = (1<<15),   TOLERANCE_VEL = (1<<16), TOLERANCE_OMEGA = (1<<17), OBSTACLE_DETECTED = (1<<18), MANUAL_STATE_SET = (1<<19),   REPLAN_TIMEOUT = (1<<20) }
enum	ControlType { IDLE, STOP, NOMINAL }
Public Types inherited from ff_util::FreeFlyerNodelet
enum	ResolveType : uint8_t { NAMESPACE = 0, TRANSFORM = 1, RESOURCE = 1 }

Public Member Functions
	ChoreographerNodelet ()
	~ChoreographerNodelet ()
Public Member Functions inherited from ff_util::FreeFlyerNodelet
	FreeFlyerNodelet (bool autostart_hb_timer=true)
	FreeFlyerNodelet (std::string const &name, bool autostart_hb_timer=true)
virtual	~FreeFlyerNodelet ()
void	AssertFault (FaultKeys enum_key, std::string const &message, ros::Time time_fault_occurred=ros::Time::now())
void	ClearAllFaults ()
void	ClearFault (FaultKeys enum_key)
void	PrintFaults ()
ros::NodeHandle *	GetPlatformHandle (bool multithreaded=false)
ros::NodeHandle *	GetPrivateHandle (bool multithreaded=false)
std::string	GetName ()
std::string	GetPlatform ()
std::string	GetTransform (std::string const &child)

Protected Member Functions
void	Initialize (ros::NodeHandle *nh)
bool	ReconfigureCallback (dynamic_reconfigure::Config &config)
void	ConnectedCallback ()
bool	SetStateCallback (ff_msgs::SetState::Request &req, ff_msgs::SetState::Response &res)
bool	SetInertiaCallback (ff_msgs::SetInertia::Request &req, ff_msgs::SetInertia::Response &res)
bool	PlannerRegisterCallback (ff_msgs::RegisterPlanner::Request &req, ff_msgs::RegisterPlanner::Response &res)
int32_t	ValidateResult (int validator_response)
int32_t	Result (int32_t response)
bool	GetRobotPose (geometry_msgs::PoseStamped &pose)
void	UpdateCallback (FSM::State const &state, FSM::Event const &event)
void	HazardCallback (ff_msgs::Hazard::ConstPtr const &msg)
bool	Plan (std::vector< geometry_msgs::PoseStamped > const &states, ros::Duration duration=ros::Duration(0))
void	PFeedbackCallback (ff_msgs::PlanFeedbackConstPtr const &feedback)
void	PResultCallback (ff_util::FreeFlyerActionState::Enum result_code, ff_msgs::PlanResultConstPtr const &result)
void	ReplanCallback (const ros::TimerEvent &)
bool	FlightMode ()
void	PmcStateCallback (ff_hw_msgs::PmcState::ConstPtr const &msg)
void	PmcTimeout (const ros::TimerEvent &)
void	FeedbackCallback (const ros::TimerEvent &)
bool	Control (ControlType type, ff_util::Segment const &segment=ff_util::Segment())
void	CFeedbackCallback (ff_msgs::ControlFeedbackConstPtr const &feedback)
void	CResultCallback (ff_util::FreeFlyerActionState::Enum result_code, ff_msgs::ControlResultConstPtr const &result)
void	GoalCallback (ff_msgs::MotionGoalConstPtr const &goal)
void	PreemptCallback ()
void	CancelCallback ()
Protected Member Functions inherited from ff_util::FreeFlyerNodelet
virtual void	Reset ()
virtual void	Sleep ()
virtual void	Wakeup ()
void	StopHeartbeat ()
void	SendDiagnostics (const std::vector< diagnostic_msgs::KeyValue > &keyval)
void	Setup (ros::NodeHandle &nh, ros::NodeHandle &nh_mt, std::string plugin_name)

Additional Inherited Members
Protected Attributes inherited from ff_util::FreeFlyerNodelet
std::map< std::string, int >	faults_

Member Enumeration Documentation

anonymous enum

anonymous enum : FSM::Event

Enumerator
READY
GOAL_EXEC
GOAL_MOVE
GOAL_STOP
GOAL_IDLE
GOAL_PREP
GOAL_CANCEL
PLAN_SUCCESS
PLAN_FAILED
PMC_READY
PMC_TIMEOUT
CONTROL_SUCCESS
CONTROL_FAILED
TOLERANCE_POS_ENDPOINT
TOLERANCE_POS
TOLERANCE_ATT
TOLERANCE_VEL
TOLERANCE_OMEGA
OBSTACLE_DETECTED
MANUAL_STATE_SET
REPLAN_TIMEOUT

ControlType

enum choreographer::ChoreographerNodelet::ControlType

Enumerator
IDLE
STOP
NOMINAL

Constructor & Destructor Documentation

ChoreographerNodelet()

choreographer::ChoreographerNodelet::ChoreographerNodelet ( )

inline

~ChoreographerNodelet()

choreographer::ChoreographerNodelet::~ChoreographerNodelet ( )

inline

Member Function Documentation

CancelCallback()

void choreographer::ChoreographerNodelet::CancelCallback ( )

inlineprotected

CFeedbackCallback()

void choreographer::ChoreographerNodelet::CFeedbackCallback ( ff_msgs::ControlFeedbackConstPtr const &  feedback )

inlineprotected

ConnectedCallback()

void choreographer::ChoreographerNodelet::ConnectedCallback ( )

inlineprotected

Control()

bool choreographer::ChoreographerNodelet::Control ( ControlType  type, ff_util::Segment const &  segment = ff_util::Segment()  )

inlineprotected

CResultCallback()

void choreographer::ChoreographerNodelet::CResultCallback ( ff_util::FreeFlyerActionState::Enum  result_code, ff_msgs::ControlResultConstPtr const &  result  )

inlineprotected

FeedbackCallback()

void choreographer::ChoreographerNodelet::FeedbackCallback ( const ros::TimerEvent &  )

inlineprotected

FlightMode()

bool choreographer::ChoreographerNodelet::FlightMode ( )

inlineprotected

GetRobotPose()

bool choreographer::ChoreographerNodelet::GetRobotPose ( geometry_msgs::PoseStamped &  pose )

inlineprotected

GoalCallback()

void choreographer::ChoreographerNodelet::GoalCallback ( ff_msgs::MotionGoalConstPtr const &  goal )

inlineprotected

HazardCallback()

void choreographer::ChoreographerNodelet::HazardCallback ( ff_msgs::Hazard::ConstPtr const &  msg )

inlineprotected

Initialize()

void choreographer::ChoreographerNodelet::Initialize ( ros::NodeHandle *  nh )

inlineprotectedvirtual

Reimplemented from ff_util::FreeFlyerNodelet.

PFeedbackCallback()

void choreographer::ChoreographerNodelet::PFeedbackCallback ( ff_msgs::PlanFeedbackConstPtr const &  feedback )

inlineprotected

Plan()

bool choreographer::ChoreographerNodelet::Plan ( std::vector< geometry_msgs::PoseStamped > const &  states, ros::Duration  duration = ros::Duration(0)  )

inlineprotected

PlannerRegisterCallback()

bool choreographer::ChoreographerNodelet::PlannerRegisterCallback ( ff_msgs::RegisterPlanner::Request &  req, ff_msgs::RegisterPlanner::Response &  res  )

inlineprotected

PmcStateCallback()

void choreographer::ChoreographerNodelet::PmcStateCallback ( ff_hw_msgs::PmcState::ConstPtr const &  msg )

inlineprotected

PmcTimeout()

void choreographer::ChoreographerNodelet::PmcTimeout ( const ros::TimerEvent &  )

inlineprotected

PreemptCallback()

void choreographer::ChoreographerNodelet::PreemptCallback ( )

inlineprotected

PResultCallback()

void choreographer::ChoreographerNodelet::PResultCallback ( ff_util::FreeFlyerActionState::Enum  result_code, ff_msgs::PlanResultConstPtr const &  result  )

inlineprotected

ReconfigureCallback()

bool choreographer::ChoreographerNodelet::ReconfigureCallback ( dynamic_reconfigure::Config &  config )

inlineprotected

ReplanCallback()

void choreographer::ChoreographerNodelet::ReplanCallback ( const ros::TimerEvent &  )

inlineprotected

Result()

int32_t choreographer::ChoreographerNodelet::Result ( int32_t  response )

inlineprotected

SetInertiaCallback()

bool choreographer::ChoreographerNodelet::SetInertiaCallback ( ff_msgs::SetInertia::Request &  req, ff_msgs::SetInertia::Response &  res  )

inlineprotected

SetStateCallback()

bool choreographer::ChoreographerNodelet::SetStateCallback ( ff_msgs::SetState::Request &  req, ff_msgs::SetState::Response &  res  )

inlineprotected

UpdateCallback()

void choreographer::ChoreographerNodelet::UpdateCallback ( FSM::State const &  state, FSM::Event const &  event  )

inlineprotected

ValidateResult()

int32_t choreographer::ChoreographerNodelet::ValidateResult ( int  validator_response )

inlineprotected

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

• mobility/choreographer/src/choreographer_nodelet.cc