Fawkes API
Fawkes Development Version
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NavigatorInterface Fawkes BlackBoard Interface. More...
#include <>>
Public Types | |
enum | DriveMode { MovingNotAllowed, Forward, AllowBackward, Backward, ESCAPE } |
Drive modes enum. More... | |
enum | OrientationMode { OrientAtTarget, OrientDuringTravel } |
Orientation mode enum. More... | |
Public Member Functions | |
const char * | tostring_DriveMode (DriveMode value) const |
Convert DriveMode constant to string. More... | |
const char * | tostring_OrientationMode (OrientationMode value) const |
Convert OrientationMode constant to string. More... | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
uint32_t | flags () const |
Get flags value. More... | |
void | set_flags (const uint32_t new_flags) |
Set flags value. More... | |
size_t | maxlenof_flags () const |
Get maximum length of flags value. More... | |
float | x () const |
Get x value. More... | |
void | set_x (const float new_x) |
Set x value. More... | |
size_t | maxlenof_x () const |
Get maximum length of x value. More... | |
float | y () const |
Get y value. More... | |
void | set_y (const float new_y) |
Set y value. More... | |
size_t | maxlenof_y () const |
Get maximum length of y value. More... | |
float | dest_x () const |
Get dest_x value. More... | |
void | set_dest_x (const float new_dest_x) |
Set dest_x value. More... | |
size_t | maxlenof_dest_x () const |
Get maximum length of dest_x value. More... | |
float | dest_y () const |
Get dest_y value. More... | |
void | set_dest_y (const float new_dest_y) |
Set dest_y value. More... | |
size_t | maxlenof_dest_y () const |
Get maximum length of dest_y value. More... | |
float | dest_ori () const |
Get dest_ori value. More... | |
void | set_dest_ori (const float new_dest_ori) |
Set dest_ori value. More... | |
size_t | maxlenof_dest_ori () const |
Get maximum length of dest_ori value. More... | |
float | dest_dist () const |
Get dest_dist value. More... | |
void | set_dest_dist (const float new_dest_dist) |
Set dest_dist value. More... | |
size_t | maxlenof_dest_dist () const |
Get maximum length of dest_dist value. More... | |
uint32_t | msgid () const |
Get msgid value. More... | |
void | set_msgid (const uint32_t new_msgid) |
Set msgid value. More... | |
size_t | maxlenof_msgid () const |
Get maximum length of msgid value. More... | |
bool | is_final () const |
Get final value. More... | |
void | set_final (const bool new_final) |
Set final value. More... | |
size_t | maxlenof_final () const |
Get maximum length of final value. More... | |
uint32_t | error_code () const |
Get error_code value. More... | |
void | set_error_code (const uint32_t new_error_code) |
Set error_code value. More... | |
size_t | maxlenof_error_code () const |
Get maximum length of error_code value. More... | |
float | max_velocity () const |
Get max_velocity value. More... | |
void | set_max_velocity (const float new_max_velocity) |
Set max_velocity value. More... | |
size_t | maxlenof_max_velocity () const |
Get maximum length of max_velocity value. More... | |
float | max_rotation () const |
Get max_rotation value. More... | |
void | set_max_rotation (const float new_max_rotation) |
Set max_rotation value. More... | |
size_t | maxlenof_max_rotation () const |
Get maximum length of max_rotation value. More... | |
float | security_distance () const |
Get security_distance value. More... | |
void | set_security_distance (const float new_security_distance) |
Set security_distance value. More... | |
size_t | maxlenof_security_distance () const |
Get maximum length of security_distance value. More... | |
bool | is_escaping_enabled () const |
Get escaping_enabled value. More... | |
void | set_escaping_enabled (const bool new_escaping_enabled) |
Set escaping_enabled value. More... | |
size_t | maxlenof_escaping_enabled () const |
Get maximum length of escaping_enabled value. More... | |
DriveMode | drive_mode () const |
Get drive_mode value. More... | |
void | set_drive_mode (const DriveMode new_drive_mode) |
Set drive_mode value. More... | |
size_t | maxlenof_drive_mode () const |
Get maximum length of drive_mode value. More... | |
bool | is_auto_drive_mode () const |
Get auto_drive_mode value. More... | |
void | set_auto_drive_mode (const bool new_auto_drive_mode) |
Set auto_drive_mode value. More... | |
size_t | maxlenof_auto_drive_mode () const |
Get maximum length of auto_drive_mode value. More... | |
bool | is_stop_at_target () const |
Get stop_at_target value. More... | |
void | set_stop_at_target (const bool new_stop_at_target) |
Set stop_at_target value. More... | |
size_t | maxlenof_stop_at_target () const |
Get maximum length of stop_at_target value. More... | |
OrientationMode | orientation_mode () const |
Get orientation_mode value. More... | |
void | set_orientation_mode (const OrientationMode new_orientation_mode) |
Set orientation_mode value. More... | |
size_t | maxlenof_orientation_mode () const |
Get maximum length of orientation_mode value. More... | |
virtual Message * | create_message (const char *type) const |
Create message based on type name. More... | |
virtual void | copy_values (const Interface *other) |
Copy values from other interface. More... | |
virtual const char * | enum_tostring (const char *enumtype, int val) const |
Convert arbitrary enum value to string. More... | |
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virtual | ~Interface () |
Destructor. More... | |
bool | oftype (const char *interface_type) const |
Check if interface is of given type. More... | |
const void * | datachunk () const |
Get data chunk. More... | |
unsigned int | datasize () const |
Get data size. More... | |
const char * | type () const |
Get type of interface. More... | |
const char * | id () const |
Get identifier of interface. More... | |
const char * | uid () const |
Get unique identifier of interface. More... | |
unsigned short | serial () const |
Get instance serial of interface. More... | |
unsigned int | mem_serial () const |
Get memory serial of interface. More... | |
bool | operator== (Interface &comp) const |
Check equality of two interfaces. More... | |
const unsigned char * | hash () const |
Get interface hash. More... | |
size_t | hash_size () const |
Get size of interface hash. More... | |
const char * | hash_printable () const |
Get printable interface hash. More... | |
bool | is_writer () const |
Check if this is a writing instance. More... | |
void | set_validity (bool valid) |
Mark this interface invalid. More... | |
bool | is_valid () const |
Check validity of interface. More... | |
const char * | owner () const |
Get owner of interface. More... | |
void | set_from_chunk (void *chunk) |
Set from a raw data chunk. More... | |
void | resize_buffers (unsigned int num_buffers) |
Resize buffer array. More... | |
unsigned int | num_buffers () const |
Get number of buffers. More... | |
void | copy_shared_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | copy_private_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | read_from_buffer (unsigned int buffer) |
Copy data from buffer to private memory. More... | |
int | compare_buffers (unsigned int buffer) |
Compare buffer to private memory. More... | |
Time | buffer_timestamp (unsigned int buffer) |
Get time of a buffer. More... | |
void | buffer_timestamp (unsigned int buffer, Time *timestamp) |
Get time of a buffer. More... | |
void | read () |
Read from BlackBoard into local copy. More... | |
void | write () |
Write from local copy into BlackBoard memory. More... | |
bool | has_writer () const |
Check if there is a writer for the interface. More... | |
unsigned int | num_readers () const |
Get the number of readers. More... | |
std::string | writer () const |
Get owner name of writing interface instance. More... | |
std::list< std::string > | readers () const |
Get owner names of reading interface instances. More... | |
bool | changed () const |
Check if data has been changed. More... | |
const Time * | timestamp () const |
Get timestamp of last write. More... | |
void | set_auto_timestamping (bool enabled) |
Enable or disable automated timestamping. More... | |
void | set_timestamp (const Time *t=NULL) |
Set timestamp. More... | |
void | set_clock (Clock *clock) |
Set clock to use for timestamping. More... | |
void | mark_data_changed () |
Mark data as changed. More... | |
std::list< const char * > | get_message_types () |
Obtain a list of textual representations of the message types available for this interface. More... | |
unsigned int | msgq_enqueue (Message *message) |
Enqueue message at end of queue. More... | |
unsigned int | msgq_enqueue_copy (Message *message) |
Enqueue copy of message at end of queue. More... | |
void | msgq_remove (Message *message) |
Remove message from queue. More... | |
void | msgq_remove (unsigned int message_id) |
Remove message from queue. More... | |
unsigned int | msgq_size () |
Get size of message queue. More... | |
void | msgq_flush () |
Flush all messages. More... | |
void | msgq_lock () |
Lock message queue. More... | |
bool | msgq_try_lock () |
Try to lock message queue. More... | |
void | msgq_unlock () |
Unlock message queue. More... | |
void | msgq_pop () |
Erase first message from queue. More... | |
Message * | msgq_first () |
Get the first message from the message queue. More... | |
bool | msgq_empty () |
Check if queue is empty. More... | |
void | msgq_append (Message *message) |
Enqueue message. More... | |
template<class MessageType > | |
bool | msgq_first_is () |
Check if first message has desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first () |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first (MessageType *&msg) |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first_safe (MessageType *&msg) throw () |
Get first message casted to the desired type without exceptions. More... | |
MessageQueue::MessageIterator | msgq_begin () |
Get start iterator for message queue. More... | |
MessageQueue::MessageIterator | msgq_end () |
Get end iterator for message queue. More... | |
InterfaceFieldIterator | fields () |
Get iterator over all fields of this interface instance. More... | |
InterfaceFieldIterator | fields_end () |
Invalid iterator. More... | |
unsigned int | num_fields () |
Get the number of fields in the interface. More... | |
Static Public Attributes | |
static const uint32_t | ERROR_NONE = 0u |
ERROR_NONE constant. More... | |
static const uint32_t | ERROR_MOTOR = 1u |
ERROR_MOTOR constant. More... | |
static const uint32_t | ERROR_OBSTRUCTION = 2u |
ERROR_OBSTRUCTION constant. More... | |
static const uint32_t | ERROR_UNKNOWN_PLACE = 4u |
ERROR_UNKNOWN_PLACE constant. More... | |
static const uint32_t | ERROR_PATH_GEN_FAIL = 8u |
ERROR_PATH_GEN_FAIL constant. More... | |
static const uint32_t | FLAG_NONE = 0u |
FLAG_NONE constant. More... | |
static const uint32_t | FLAG_CART_GOTO = 1u |
FLAG_CART_GOTO constant. More... | |
static const uint32_t | FLAG_POLAR_GOTO = 2u |
FLAG_POLAR_GOTO constant. More... | |
static const uint32_t | FLAG_PLACE_GOTO = 4u |
FLAG_PLACE_GOTO constant. More... | |
static const uint32_t | FLAG_UPDATES_DEST_DIST = 8u |
FLAG_UPDATES_DEST_DIST constant. More... | |
static const uint32_t | FLAG_SECURITY_DISTANCE = 16u |
FLAG_SECURITY_DISTANCE constant. More... | |
static const uint32_t | FLAG_ESCAPING = 32u |
FLAG_ESCAPING constant. More... | |
Additional Inherited Members | |
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static void | parse_uid (const char *uid, std::string &type, std::string &id) |
Parse UID to type and ID strings. More... | |
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Interface () | |
Constructor. More... | |
void | set_hash (unsigned char *ihash) |
Set hash. More... | |
void | add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0) |
Add an entry to the field info list. More... | |
void | add_messageinfo (const char *name) |
Add an entry to the message info list. More... | |
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void * | data_ptr |
Pointer to local memory storage. More... | |
unsigned int | data_size |
Minimal data size to hold data storage. More... | |
bool | data_changed |
Indicator if data has changed. More... | |
interface_data_ts_t * | data_ts |
Pointer to data casted to timestamp struct. More... | |
NavigatorInterface Fawkes BlackBoard Interface.
The navigator interface is used by the navigator to export information about the current status of the navigator and to define all messages by which the navigator can be instructed.
There are three coordinate systems, the robot system which is a right-handed cartesian coordinate system with the robot in its origin, X axis pointing forward, Y pointing to the left and Z pointing upwards. The second coordinate system is the so-called navigator system. It is a coordinate system similar to the robot system, but the origin is defined on the initialization of the navigator. The last system is the odometry system. It is again a similar system, but the origin is reset from time to time and the robot's position in this system gives the odometry deltas.
Definition at line 33 of file NavigatorInterface.h.
Drive modes enum.
Enumerator | |
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MovingNotAllowed | Moving not allowed constant. |
Forward | Moving forward constant. |
AllowBackward | Moving allow backward constant. |
Backward | Moving backward constant. |
ESCAPE | Escape constant. |
Definition at line 54 of file NavigatorInterface.h.
Orientation mode enum.
Enumerator | |
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OrientAtTarget | Orient when at target, if orientation is given. |
OrientDuringTravel | Orient during travel BUT NOT at target, if omnidirectional platform and orientation is given. |
Definition at line 64 of file NavigatorInterface.h.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 788 of file NavigatorInterface.cpp.
References fawkes::Message::type(), and fawkes::Interface::type().
Referenced by ColliThread::loop().
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virtual |
Create message based on type name.
This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.
type | message type |
UnknownTypeException | thrown if this interface cannot create a message of the given type. |
Implements fawkes::Interface.
Definition at line 743 of file NavigatorInterface.cpp.
float fawkes::NavigatorInterface::dest_dist | ( | ) | const |
Get dest_dist value.
Distance to destination in m.
Definition at line 360 of file NavigatorInterface.cpp.
Referenced by ColliThread::loop().
float fawkes::NavigatorInterface::dest_ori | ( | ) | const |
Get dest_ori value.
Orientation of the current destination, or 0.0 if no target has been set.
Definition at line 329 of file NavigatorInterface.cpp.
Referenced by RosNavigatorThread::finalize(), ColliThread::loop(), and fawkes::SelectDriveMode::update().
float fawkes::NavigatorInterface::dest_x | ( | ) | const |
Get dest_x value.
X-coordinate of the current destination, or 0.0 if no target has been set.
Definition at line 267 of file NavigatorInterface.cpp.
Referenced by RosNavigatorThread::finalize(), ColliThread::loop(), and fawkes::SelectDriveMode::update().
float fawkes::NavigatorInterface::dest_y | ( | ) | const |
Get dest_y value.
Y-coordinate of the current destination, or 0.0 if no target has been set.
Definition at line 298 of file NavigatorInterface.cpp.
Referenced by RosNavigatorThread::finalize(), ColliThread::loop(), and fawkes::SelectDriveMode::update().
NavigatorInterface::DriveMode fawkes::NavigatorInterface::drive_mode | ( | ) | const |
Get drive_mode value.
Current drive mode
Definition at line 618 of file NavigatorInterface.cpp.
Referenced by ColliThread::loop(), and fawkes::SelectDriveMode::update().
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virtual |
Convert arbitrary enum value to string.
Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.
enumtype | enum type as string |
val | value to convert |
UnknownTypeException | thrown if enumtype is not specified for interface. |
Implements fawkes::Interface.
Definition at line 799 of file NavigatorInterface.cpp.
uint32_t fawkes::NavigatorInterface::error_code | ( | ) | const |
Get error_code value.
Failure code set if final is true. 0 if no error occured, an error code from ERROR_* constants otherwise (or a bit-wise combination).
Definition at line 459 of file NavigatorInterface.cpp.
Referenced by RosMoveBaseThread::loop().
uint32_t fawkes::NavigatorInterface::flags | ( | ) | const |
Get flags value.
Bit-wise combination of FLAG_* constants denoting navigator component features.
Definition at line 173 of file NavigatorInterface.cpp.
bool fawkes::NavigatorInterface::is_auto_drive_mode | ( | ) | const |
Get auto_drive_mode value.
True, if the drive mode should be automatically decided each time. False, if the drive mode should not automatically change, which is the case when sending a SetAutoDriveMode-message (otherwise the navigator might ignore that value).
Definition at line 651 of file NavigatorInterface.cpp.
bool fawkes::NavigatorInterface::is_escaping_enabled | ( | ) | const |
Get escaping_enabled value.
This is used for navigation components with integrated collision avoidance, to check whether the navigator should stop when an obstacle obstructs the path, or if it should escape.
Definition at line 586 of file NavigatorInterface.cpp.
Referenced by ColliThread::loop().
bool fawkes::NavigatorInterface::is_final | ( | ) | const |
Get final value.
True, if the last goto command has been finished, false if it is still running
Definition at line 425 of file NavigatorInterface.cpp.
Referenced by RosMoveBaseThread::loop(), NavGraphThread::loop(), and ColliThread::loop().
bool fawkes::NavigatorInterface::is_stop_at_target | ( | ) | const |
Get stop_at_target value.
Stop when target is reached?
Definition at line 684 of file NavigatorInterface.cpp.
Referenced by fawkes::SelectDriveMode::update().
float fawkes::NavigatorInterface::max_rotation | ( | ) | const |
Get max_rotation value.
Maximum rotation velocity
Definition at line 523 of file NavigatorInterface.cpp.
Referenced by ColliThread::loop(), and fawkes::SelectDriveMode::update().
float fawkes::NavigatorInterface::max_velocity | ( | ) | const |
Get max_velocity value.
Maximum velocity
Definition at line 492 of file NavigatorInterface.cpp.
Referenced by fawkes::SelectDriveMode::update().
size_t fawkes::NavigatorInterface::maxlenof_auto_drive_mode | ( | ) | const |
Get maximum length of auto_drive_mode value.
Definition at line 661 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_dest_dist | ( | ) | const |
Get maximum length of dest_dist value.
Definition at line 370 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_dest_ori | ( | ) | const |
Get maximum length of dest_ori value.
Definition at line 339 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_dest_x | ( | ) | const |
Get maximum length of dest_x value.
Definition at line 277 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_dest_y | ( | ) | const |
Get maximum length of dest_y value.
Definition at line 308 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_drive_mode | ( | ) | const |
Get maximum length of drive_mode value.
Definition at line 628 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_error_code | ( | ) | const |
Get maximum length of error_code value.
Definition at line 469 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_escaping_enabled | ( | ) | const |
Get maximum length of escaping_enabled value.
Definition at line 596 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_final | ( | ) | const |
Get maximum length of final value.
Definition at line 435 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_flags | ( | ) | const |
Get maximum length of flags value.
Definition at line 183 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_max_rotation | ( | ) | const |
Get maximum length of max_rotation value.
Definition at line 533 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_max_velocity | ( | ) | const |
Get maximum length of max_velocity value.
Definition at line 502 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_msgid | ( | ) | const |
Get maximum length of msgid value.
Definition at line 402 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_orientation_mode | ( | ) | const |
Get maximum length of orientation_mode value.
Definition at line 725 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_security_distance | ( | ) | const |
Get maximum length of security_distance value.
Definition at line 564 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_stop_at_target | ( | ) | const |
Get maximum length of stop_at_target value.
Definition at line 694 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_x | ( | ) | const |
Get maximum length of x value.
Definition at line 215 of file NavigatorInterface.cpp.
size_t fawkes::NavigatorInterface::maxlenof_y | ( | ) | const |
Get maximum length of y value.
Definition at line 246 of file NavigatorInterface.cpp.
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virtual |
Check if message is valid and can be enqueued.
message | Message to check |
Implements fawkes::Interface.
Definition at line 2603 of file NavigatorInterface.cpp.
uint32_t fawkes::NavigatorInterface::msgid | ( | ) | const |
Get msgid value.
The ID of the message that is currently being processed, or 0 if no message is being processed.
Definition at line 392 of file NavigatorInterface.cpp.
Referenced by RosMoveBaseThread::loop().
NavigatorInterface::OrientationMode fawkes::NavigatorInterface::orientation_mode | ( | ) | const |
Get orientation_mode value.
Mode how/when to orientate if orientation is given
Definition at line 715 of file NavigatorInterface.cpp.
Referenced by ColliThread::loop(), and fawkes::SelectDriveMode::update().
float fawkes::NavigatorInterface::security_distance | ( | ) | const |
Get security_distance value.
Security distance to keep to obstacles
Definition at line 554 of file NavigatorInterface.cpp.
Referenced by ColliThread::loop().
void fawkes::NavigatorInterface::set_auto_drive_mode | ( | const bool | new_auto_drive_mode | ) |
Set auto_drive_mode value.
True, if the drive mode should be automatically decided each time. False, if the drive mode should not automatically change, which is the case when sending a SetAutoDriveMode-message (otherwise the navigator might ignore that value).
new_auto_drive_mode | new auto_drive_mode value |
Definition at line 673 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::NavigatorInterface::set_dest_dist | ( | const float | new_dest_dist | ) |
Set dest_dist value.
Distance to destination in m.
new_dest_dist | new dest_dist value |
Definition at line 380 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by ColliThread::colli_stop(), ColliActThread::loop(), and ColliThread::loop().
void fawkes::NavigatorInterface::set_dest_ori | ( | const float | new_dest_ori | ) |
Set dest_ori value.
Orientation of the current destination, or 0.0 if no target has been set.
new_dest_ori | new dest_ori value |
Definition at line 349 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by ColliThread::colli_stop(), RosNavigatorThread::loop(), ColliActThread::loop(), and ColliThread::loop().
void fawkes::NavigatorInterface::set_dest_x | ( | const float | new_dest_x | ) |
Set dest_x value.
X-coordinate of the current destination, or 0.0 if no target has been set.
new_dest_x | new dest_x value |
Definition at line 287 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by ColliThread::colli_stop(), RosNavigatorThread::loop(), ColliActThread::loop(), NavGraphThread::loop(), and ColliThread::loop().
void fawkes::NavigatorInterface::set_dest_y | ( | const float | new_dest_y | ) |
Set dest_y value.
Y-coordinate of the current destination, or 0.0 if no target has been set.
new_dest_y | new dest_y value |
Definition at line 318 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by ColliThread::colli_stop(), RosNavigatorThread::loop(), ColliActThread::loop(), NavGraphThread::loop(), and ColliThread::loop().
void fawkes::NavigatorInterface::set_drive_mode | ( | const DriveMode | new_drive_mode | ) |
Set drive_mode value.
Current drive mode
new_drive_mode | new drive_mode value |
Definition at line 638 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by ColliActThread::init(), and ColliActThread::loop().
void fawkes::NavigatorInterface::set_error_code | ( | const uint32_t | new_error_code | ) |
Set error_code value.
Failure code set if final is true. 0 if no error occured, an error code from ERROR_* constants otherwise (or a bit-wise combination).
new_error_code | new error_code value |
Definition at line 481 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by RosNavigatorThread::finalize(), RosNavgraphBreakoutThread::loop(), and NavGraphThread::loop().
void fawkes::NavigatorInterface::set_escaping_enabled | ( | const bool | new_escaping_enabled | ) |
Set escaping_enabled value.
This is used for navigation components with integrated collision avoidance, to check whether the navigator should stop when an obstacle obstructs the path, or if it should escape.
new_escaping_enabled | new escaping_enabled value |
Definition at line 607 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by ColliActThread::init(), and ColliActThread::loop().
void fawkes::NavigatorInterface::set_final | ( | const bool | new_final | ) |
Set final value.
True, if the last goto command has been finished, false if it is still running
new_final | new final value |
Definition at line 446 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by ColliThread::colli_stop(), RosNavigatorThread::finalize(), ColliActThread::init(), RosNavgraphBreakoutThread::loop(), ColliActThread::loop(), NavGraphThread::loop(), and ColliThread::loop().
void fawkes::NavigatorInterface::set_flags | ( | const uint32_t | new_flags | ) |
Set flags value.
Bit-wise combination of FLAG_* constants denoting navigator component features.
new_flags | new flags value |
Definition at line 194 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::NavigatorInterface::set_max_rotation | ( | const float | new_max_rotation | ) |
Set max_rotation value.
Maximum rotation velocity
new_max_rotation | new max_rotation value |
Definition at line 543 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by ColliActThread::init(), and ColliActThread::loop().
void fawkes::NavigatorInterface::set_max_velocity | ( | const float | new_max_velocity | ) |
Set max_velocity value.
Maximum velocity
new_max_velocity | new max_velocity value |
Definition at line 512 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by ColliActThread::init(), RosNavigatorThread::loop(), and ColliActThread::loop().
void fawkes::NavigatorInterface::set_msgid | ( | const uint32_t | new_msgid | ) |
Set msgid value.
The ID of the message that is currently being processed, or 0 if no message is being processed.
new_msgid | new msgid value |
Definition at line 413 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by RosNavgraphBreakoutThread::loop(), RosNavigatorThread::loop(), ColliActThread::loop(), and NavGraphThread::loop().
void fawkes::NavigatorInterface::set_orientation_mode | ( | const OrientationMode | new_orientation_mode | ) |
Set orientation_mode value.
Mode how/when to orientate if orientation is given
new_orientation_mode | new orientation_mode value |
Definition at line 735 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by ColliActThread::init(), and ColliActThread::loop().
void fawkes::NavigatorInterface::set_security_distance | ( | const float | new_security_distance | ) |
Set security_distance value.
Security distance to keep to obstacles
new_security_distance | new security_distance value |
Definition at line 574 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by ColliActThread::init(), RosNavigatorThread::loop(), and ColliActThread::loop().
void fawkes::NavigatorInterface::set_stop_at_target | ( | const bool | new_stop_at_target | ) |
Set stop_at_target value.
Stop when target is reached?
new_stop_at_target | new stop_at_target value |
Definition at line 704 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by ColliActThread::init(), and ColliActThread::loop().
void fawkes::NavigatorInterface::set_x | ( | const float | new_x | ) |
Set x value.
Current X-coordinate in the navigator coordinate system.
new_x | new x value |
Definition at line 225 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::NavigatorInterface::set_y | ( | const float | new_y | ) |
Set y value.
Current Y-coordinate in the navigator coordinate system.
new_y | new y value |
Definition at line 256 of file NavigatorInterface.cpp.
References fawkes::Interface::data_changed.
const char * fawkes::NavigatorInterface::tostring_DriveMode | ( | DriveMode | value | ) | const |
Convert DriveMode constant to string.
value | value to convert to string |
Definition at line 142 of file NavigatorInterface.cpp.
Referenced by ColliActThread::init(), and ColliActThread::loop().
const char * fawkes::NavigatorInterface::tostring_OrientationMode | ( | OrientationMode | value | ) | const |
Convert OrientationMode constant to string.
value | value to convert to string |
Definition at line 158 of file NavigatorInterface.cpp.
References fawkes::OrientAtTarget.
Referenced by ColliActThread::loop().
float fawkes::NavigatorInterface::x | ( | ) | const |
Get x value.
Current X-coordinate in the navigator coordinate system.
Definition at line 205 of file NavigatorInterface.cpp.
float fawkes::NavigatorInterface::y | ( | ) | const |
Get y value.
Current Y-coordinate in the navigator coordinate system.
Definition at line 236 of file NavigatorInterface.cpp.
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ERROR_MOTOR constant.
Definition at line 41 of file NavigatorInterface.h.
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ERROR_NONE constant.
Definition at line 40 of file NavigatorInterface.h.
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ERROR_OBSTRUCTION constant.
Definition at line 42 of file NavigatorInterface.h.
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ERROR_PATH_GEN_FAIL constant.
Definition at line 44 of file NavigatorInterface.h.
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ERROR_UNKNOWN_PLACE constant.
Definition at line 43 of file NavigatorInterface.h.
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FLAG_CART_GOTO constant.
Definition at line 46 of file NavigatorInterface.h.
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FLAG_ESCAPING constant.
Definition at line 51 of file NavigatorInterface.h.
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FLAG_NONE constant.
Definition at line 45 of file NavigatorInterface.h.
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FLAG_PLACE_GOTO constant.
Definition at line 48 of file NavigatorInterface.h.
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FLAG_POLAR_GOTO constant.
Definition at line 47 of file NavigatorInterface.h.
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FLAG_SECURITY_DISTANCE constant.
Definition at line 50 of file NavigatorInterface.h.
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FLAG_UPDATES_DEST_DIST constant.
Definition at line 49 of file NavigatorInterface.h.