choreographer::Validator Class Reference

#include <validator.h>

Public Types
enum	Response : uint8_t {   SUCCESS, VIOLATES_RESAMPLING, VIOLATES_KEEP_OUT, VIOLATES_KEEP_IN,   VIOLATES_MINIMUM_FREQUENCY, VIOLATES_STATIONARY_ENDPOINT, VIOLATES_FIRST_IN_PAST, VIOLATES_MINIMUM_SETPOINTS,   VIOLATES_HARD_LIMIT_VEL, VIOLATES_HARD_LIMIT_ACCEL, VIOLATES_HARD_LIMIT_OMEGA, VIOLATES_HARD_LIMIT_ALPHA }

Public Member Functions
bool	Init (ros::NodeHandle *nh, ff_util::ConfigServer &cfg)
Response	CheckSegment (ff_util::Segment const &msg, ff_msgs::FlightMode const &flight_mode, bool face_forward)

Protected Member Functions
void	PublishMarkers ()
void	ProcessZone (std::vector< signed char > &map, int type, char cell_value, bool surface)
bool	GetZonesMap ()
bool	GetZonesCallback (ff_msgs::GetZones::Request &req, ff_msgs::GetZones::Response &res)
bool	GetZonesMapCallback (ff_msgs::GetOccupancyMap::Request &req, ff_msgs::GetOccupancyMap::Response &res)
bool	SetZonesCallback (ff_msgs::SetZones::Request &req, ff_msgs::SetZones::Response &res)

Member Enumeration Documentation

Response

enum choreographer::Validator::Response : uint8_t

Enumerator
SUCCESS
VIOLATES_RESAMPLING
VIOLATES_KEEP_OUT
VIOLATES_KEEP_IN
VIOLATES_MINIMUM_FREQUENCY
VIOLATES_STATIONARY_ENDPOINT
VIOLATES_FIRST_IN_PAST
VIOLATES_MINIMUM_SETPOINTS
VIOLATES_HARD_LIMIT_VEL
VIOLATES_HARD_LIMIT_ACCEL
VIOLATES_HARD_LIMIT_OMEGA
VIOLATES_HARD_LIMIT_ALPHA

Member Function Documentation

CheckSegment()

Validator::Response choreographer::Validator::CheckSegment	(	ff_util::Segment const &	msg,
		ff_msgs::FlightMode const &	flight_mode,
		bool	face_forward
	)

GetZonesCallback()

bool choreographer::Validator::GetZonesCallback ( ff_msgs::GetZones::Request &  req, ff_msgs::GetZones::Response &  res  )

protected

GetZonesMap()

bool choreographer::Validator::GetZonesMap ( )

protected

GetZonesMapCallback()

bool choreographer::Validator::GetZonesMapCallback ( ff_msgs::GetOccupancyMap::Request &  req, ff_msgs::GetOccupancyMap::Response &  res  )

protected

Init()

bool choreographer::Validator::Init	(	ros::NodeHandle *	nh,
		ff_util::ConfigServer &	cfg
	)

ProcessZone()

void choreographer::Validator::ProcessZone ( std::vector< signed char > &  map, int  type, char  cell_value, bool  surface  )

protected

PublishMarkers()

void choreographer::Validator::PublishMarkers ( )

protected

SetZonesCallback()

bool choreographer::Validator::SetZonesCallback ( ff_msgs::SetZones::Request &  req, ff_msgs::SetZones::Response &  res  )

protected

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

• mobility/choreographer/include/choreographer/validator.h
• mobility/choreographer/src/validator.cc