Fawkes API  Fawkes Development Version
fawkes::NavigatorInterface Class Reference

NavigatorInterface Fawkes BlackBoard Interface. More...

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Inheritance diagram for fawkes::NavigatorInterface:

Classes

class  CartesianGotoMessage
 CartesianGotoMessage Fawkes BlackBoard Interface Message. More...
 
class  ObstacleMessage
 ObstacleMessage Fawkes BlackBoard Interface Message. More...
 
class  PlaceGotoMessage
 PlaceGotoMessage Fawkes BlackBoard Interface Message. More...
 
class  PlaceWithOriGotoMessage
 PlaceWithOriGotoMessage Fawkes BlackBoard Interface Message. More...
 
class  PolarGotoMessage
 PolarGotoMessage Fawkes BlackBoard Interface Message. More...
 
class  ResetOdometryMessage
 ResetOdometryMessage Fawkes BlackBoard Interface Message. More...
 
class  ResetParametersMessage
 ResetParametersMessage Fawkes BlackBoard Interface Message. More...
 
class  SetDriveModeMessage
 SetDriveModeMessage Fawkes BlackBoard Interface Message. More...
 
class  SetEscapingMessage
 SetEscapingMessage Fawkes BlackBoard Interface Message. More...
 
class  SetMaxRotationMessage
 SetMaxRotationMessage Fawkes BlackBoard Interface Message. More...
 
class  SetMaxVelocityMessage
 SetMaxVelocityMessage Fawkes BlackBoard Interface Message. More...
 
class  SetOrientationModeMessage
 SetOrientationModeMessage Fawkes BlackBoard Interface Message. More...
 
class  SetSecurityDistanceMessage
 SetSecurityDistanceMessage Fawkes BlackBoard Interface Message. More...
 
class  SetStopAtTargetMessage
 SetStopAtTargetMessage Fawkes BlackBoard Interface Message. More...
 
class  StopMessage
 StopMessage Fawkes BlackBoard Interface Message. More...
 
class  TurnMessage
 TurnMessage Fawkes BlackBoard Interface Message. More...
 

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 Messagecreate_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...
 
- Public Member Functions inherited from fawkes::Interface
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 Timetimestamp () 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...
 
Messagemsgq_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

- Static Public Member Functions inherited from fawkes::Interface
static void parse_uid (const char *uid, std::string &type, std::string &id)
 Parse UID to type and ID strings. More...
 
- Protected Member Functions inherited from fawkes::Interface
 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...
 
- Protected Attributes inherited from fawkes::Interface
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_tdata_ts
 Pointer to data casted to timestamp struct. More...
 

Detailed Description

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.

Member Enumeration Documentation

◆ DriveMode

Drive modes enum.

Enumerator
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.

◆ OrientationMode

Orientation mode enum.

Enumerator
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.

Member Function Documentation

◆ copy_values()

void fawkes::NavigatorInterface::copy_values ( const Interface other)
virtual

Copy values from other interface.

Parameters
otherother 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().

◆ create_message()

Message * fawkes::NavigatorInterface::create_message ( const char *  type) const
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.

Parameters
typemessage type
Returns
message of the given type, empty
Exceptions
UnknownTypeExceptionthrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 743 of file NavigatorInterface.cpp.

◆ dest_dist()

float fawkes::NavigatorInterface::dest_dist ( ) const

Get dest_dist value.

Distance to destination in m.

Returns
dest_dist value

Definition at line 360 of file NavigatorInterface.cpp.

Referenced by ColliThread::loop().

◆ dest_ori()

float fawkes::NavigatorInterface::dest_ori ( ) const

Get dest_ori value.

Orientation of the current destination, or 0.0 if no target has been set.

Returns
dest_ori value

Definition at line 329 of file NavigatorInterface.cpp.

Referenced by RosNavigatorThread::finalize(), ColliThread::loop(), and fawkes::SelectDriveMode::update().

◆ dest_x()

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.

Returns
dest_x value

Definition at line 267 of file NavigatorInterface.cpp.

Referenced by RosNavigatorThread::finalize(), ColliThread::loop(), and fawkes::SelectDriveMode::update().

◆ dest_y()

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.

Returns
dest_y value

Definition at line 298 of file NavigatorInterface.cpp.

Referenced by RosNavigatorThread::finalize(), ColliThread::loop(), and fawkes::SelectDriveMode::update().

◆ drive_mode()

NavigatorInterface::DriveMode fawkes::NavigatorInterface::drive_mode ( ) const

Get drive_mode value.

Current drive mode

Returns
drive_mode value

Definition at line 618 of file NavigatorInterface.cpp.

Referenced by ColliThread::loop(), and fawkes::SelectDriveMode::update().

◆ enum_tostring()

const char * fawkes::NavigatorInterface::enum_tostring ( const char *  enumtype,
int  val 
) const
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.

Parameters
enumtypeenum type as string
valvalue to convert
Returns
string representation of value
Exceptions
UnknownTypeExceptionthrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 799 of file NavigatorInterface.cpp.

◆ error_code()

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).

Returns
error_code value

Definition at line 459 of file NavigatorInterface.cpp.

Referenced by RosMoveBaseThread::loop().

◆ flags()

uint32_t fawkes::NavigatorInterface::flags ( ) const

Get flags value.

Bit-wise combination of FLAG_* constants denoting navigator component features.

Returns
flags value

Definition at line 173 of file NavigatorInterface.cpp.

◆ is_auto_drive_mode()

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).

Returns
auto_drive_mode value

Definition at line 651 of file NavigatorInterface.cpp.

◆ is_escaping_enabled()

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.

Returns
escaping_enabled value

Definition at line 586 of file NavigatorInterface.cpp.

Referenced by ColliThread::loop().

◆ is_final()

bool fawkes::NavigatorInterface::is_final ( ) const

Get final value.

True, if the last goto command has been finished, false if it is still running

Returns
final value

Definition at line 425 of file NavigatorInterface.cpp.

Referenced by RosMoveBaseThread::loop(), NavGraphThread::loop(), and ColliThread::loop().

◆ is_stop_at_target()

bool fawkes::NavigatorInterface::is_stop_at_target ( ) const

Get stop_at_target value.

Stop when target is reached?

Returns
stop_at_target value

Definition at line 684 of file NavigatorInterface.cpp.

Referenced by fawkes::SelectDriveMode::update().

◆ max_rotation()

float fawkes::NavigatorInterface::max_rotation ( ) const

Get max_rotation value.

Maximum rotation velocity

Returns
max_rotation value

Definition at line 523 of file NavigatorInterface.cpp.

Referenced by ColliThread::loop(), and fawkes::SelectDriveMode::update().

◆ max_velocity()

float fawkes::NavigatorInterface::max_velocity ( ) const

Get max_velocity value.

Maximum velocity

Returns
max_velocity value

Definition at line 492 of file NavigatorInterface.cpp.

Referenced by fawkes::SelectDriveMode::update().

◆ maxlenof_auto_drive_mode()

size_t fawkes::NavigatorInterface::maxlenof_auto_drive_mode ( ) const

Get maximum length of auto_drive_mode value.

Returns
length of auto_drive_mode value, can be length of the array or number of maximum number of characters for a string

Definition at line 661 of file NavigatorInterface.cpp.

◆ maxlenof_dest_dist()

size_t fawkes::NavigatorInterface::maxlenof_dest_dist ( ) const

Get maximum length of dest_dist value.

Returns
length of dest_dist value, can be length of the array or number of maximum number of characters for a string

Definition at line 370 of file NavigatorInterface.cpp.

◆ maxlenof_dest_ori()

size_t fawkes::NavigatorInterface::maxlenof_dest_ori ( ) const

Get maximum length of dest_ori value.

Returns
length of dest_ori value, can be length of the array or number of maximum number of characters for a string

Definition at line 339 of file NavigatorInterface.cpp.

◆ maxlenof_dest_x()

size_t fawkes::NavigatorInterface::maxlenof_dest_x ( ) const

Get maximum length of dest_x value.

Returns
length of dest_x value, can be length of the array or number of maximum number of characters for a string

Definition at line 277 of file NavigatorInterface.cpp.

◆ maxlenof_dest_y()

size_t fawkes::NavigatorInterface::maxlenof_dest_y ( ) const

Get maximum length of dest_y value.

Returns
length of dest_y value, can be length of the array or number of maximum number of characters for a string

Definition at line 308 of file NavigatorInterface.cpp.

◆ maxlenof_drive_mode()

size_t fawkes::NavigatorInterface::maxlenof_drive_mode ( ) const

Get maximum length of drive_mode value.

Returns
length of drive_mode value, can be length of the array or number of maximum number of characters for a string

Definition at line 628 of file NavigatorInterface.cpp.

◆ maxlenof_error_code()

size_t fawkes::NavigatorInterface::maxlenof_error_code ( ) const

Get maximum length of error_code value.

Returns
length of error_code value, can be length of the array or number of maximum number of characters for a string

Definition at line 469 of file NavigatorInterface.cpp.

◆ maxlenof_escaping_enabled()

size_t fawkes::NavigatorInterface::maxlenof_escaping_enabled ( ) const

Get maximum length of escaping_enabled value.

Returns
length of escaping_enabled value, can be length of the array or number of maximum number of characters for a string

Definition at line 596 of file NavigatorInterface.cpp.

◆ maxlenof_final()

size_t fawkes::NavigatorInterface::maxlenof_final ( ) const

Get maximum length of final value.

Returns
length of final value, can be length of the array or number of maximum number of characters for a string

Definition at line 435 of file NavigatorInterface.cpp.

◆ maxlenof_flags()

size_t fawkes::NavigatorInterface::maxlenof_flags ( ) const

Get maximum length of flags value.

Returns
length of flags value, can be length of the array or number of maximum number of characters for a string

Definition at line 183 of file NavigatorInterface.cpp.

◆ maxlenof_max_rotation()

size_t fawkes::NavigatorInterface::maxlenof_max_rotation ( ) const

Get maximum length of max_rotation value.

Returns
length of max_rotation value, can be length of the array or number of maximum number of characters for a string

Definition at line 533 of file NavigatorInterface.cpp.

◆ maxlenof_max_velocity()

size_t fawkes::NavigatorInterface::maxlenof_max_velocity ( ) const

Get maximum length of max_velocity value.

Returns
length of max_velocity value, can be length of the array or number of maximum number of characters for a string

Definition at line 502 of file NavigatorInterface.cpp.

◆ maxlenof_msgid()

size_t fawkes::NavigatorInterface::maxlenof_msgid ( ) const

Get maximum length of msgid value.

Returns
length of msgid value, can be length of the array or number of maximum number of characters for a string

Definition at line 402 of file NavigatorInterface.cpp.

◆ maxlenof_orientation_mode()

size_t fawkes::NavigatorInterface::maxlenof_orientation_mode ( ) const

Get maximum length of orientation_mode value.

Returns
length of orientation_mode value, can be length of the array or number of maximum number of characters for a string

Definition at line 725 of file NavigatorInterface.cpp.

◆ maxlenof_security_distance()

size_t fawkes::NavigatorInterface::maxlenof_security_distance ( ) const

Get maximum length of security_distance value.

Returns
length of security_distance value, can be length of the array or number of maximum number of characters for a string

Definition at line 564 of file NavigatorInterface.cpp.

◆ maxlenof_stop_at_target()

size_t fawkes::NavigatorInterface::maxlenof_stop_at_target ( ) const

Get maximum length of stop_at_target value.

Returns
length of stop_at_target value, can be length of the array or number of maximum number of characters for a string

Definition at line 694 of file NavigatorInterface.cpp.

◆ maxlenof_x()

size_t fawkes::NavigatorInterface::maxlenof_x ( ) const

Get maximum length of x value.

Returns
length of x value, can be length of the array or number of maximum number of characters for a string

Definition at line 215 of file NavigatorInterface.cpp.

◆ maxlenof_y()

size_t fawkes::NavigatorInterface::maxlenof_y ( ) const

Get maximum length of y value.

Returns
length of y value, can be length of the array or number of maximum number of characters for a string

Definition at line 246 of file NavigatorInterface.cpp.

◆ message_valid()

bool fawkes::NavigatorInterface::message_valid ( const Message message) const
virtual

Check if message is valid and can be enqueued.

Parameters
messageMessage to check
Returns
true if the message is valid, false otherwise.

Implements fawkes::Interface.

Definition at line 2603 of file NavigatorInterface.cpp.

◆ msgid()

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.

Returns
msgid value

Definition at line 392 of file NavigatorInterface.cpp.

Referenced by RosMoveBaseThread::loop().

◆ orientation_mode()

NavigatorInterface::OrientationMode fawkes::NavigatorInterface::orientation_mode ( ) const

Get orientation_mode value.

Mode how/when to orientate if orientation is given

Returns
orientation_mode value

Definition at line 715 of file NavigatorInterface.cpp.

Referenced by ColliThread::loop(), and fawkes::SelectDriveMode::update().

◆ security_distance()

float fawkes::NavigatorInterface::security_distance ( ) const

Get security_distance value.

Security distance to keep to obstacles

Returns
security_distance value

Definition at line 554 of file NavigatorInterface.cpp.

Referenced by ColliThread::loop().

◆ set_auto_drive_mode()

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).

Parameters
new_auto_drive_modenew auto_drive_mode value

Definition at line 673 of file NavigatorInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_dest_dist()

void fawkes::NavigatorInterface::set_dest_dist ( const float  new_dest_dist)

Set dest_dist value.

Distance to destination in m.

Parameters
new_dest_distnew 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().

◆ set_dest_ori()

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.

Parameters
new_dest_orinew 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().

◆ set_dest_x()

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.

Parameters
new_dest_xnew 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().

◆ set_dest_y()

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.

Parameters
new_dest_ynew 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().

◆ set_drive_mode()

void fawkes::NavigatorInterface::set_drive_mode ( const DriveMode  new_drive_mode)

Set drive_mode value.

Current drive mode

Parameters
new_drive_modenew drive_mode value

Definition at line 638 of file NavigatorInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by ColliActThread::init(), and ColliActThread::loop().

◆ set_error_code()

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).

Parameters
new_error_codenew 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().

◆ set_escaping_enabled()

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.

Parameters
new_escaping_enablednew escaping_enabled value

Definition at line 607 of file NavigatorInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by ColliActThread::init(), and ColliActThread::loop().

◆ set_final()

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

Parameters
new_finalnew 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().

◆ set_flags()

void fawkes::NavigatorInterface::set_flags ( const uint32_t  new_flags)

Set flags value.

Bit-wise combination of FLAG_* constants denoting navigator component features.

Parameters
new_flagsnew flags value

Definition at line 194 of file NavigatorInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_max_rotation()

void fawkes::NavigatorInterface::set_max_rotation ( const float  new_max_rotation)

Set max_rotation value.

Maximum rotation velocity

Parameters
new_max_rotationnew max_rotation value

Definition at line 543 of file NavigatorInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by ColliActThread::init(), and ColliActThread::loop().

◆ set_max_velocity()

void fawkes::NavigatorInterface::set_max_velocity ( const float  new_max_velocity)

Set max_velocity value.

Maximum velocity

Parameters
new_max_velocitynew 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().

◆ set_msgid()

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.

Parameters
new_msgidnew 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().

◆ set_orientation_mode()

void fawkes::NavigatorInterface::set_orientation_mode ( const OrientationMode  new_orientation_mode)

Set orientation_mode value.

Mode how/when to orientate if orientation is given

Parameters
new_orientation_modenew orientation_mode value

Definition at line 735 of file NavigatorInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by ColliActThread::init(), and ColliActThread::loop().

◆ set_security_distance()

void fawkes::NavigatorInterface::set_security_distance ( const float  new_security_distance)

Set security_distance value.

Security distance to keep to obstacles

Parameters
new_security_distancenew 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().

◆ set_stop_at_target()

void fawkes::NavigatorInterface::set_stop_at_target ( const bool  new_stop_at_target)

Set stop_at_target value.

Stop when target is reached?

Parameters
new_stop_at_targetnew stop_at_target value

Definition at line 704 of file NavigatorInterface.cpp.

References fawkes::Interface::data_changed.

Referenced by ColliActThread::init(), and ColliActThread::loop().

◆ set_x()

void fawkes::NavigatorInterface::set_x ( const float  new_x)

Set x value.

Current X-coordinate in the navigator coordinate system.

Parameters
new_xnew x value

Definition at line 225 of file NavigatorInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_y()

void fawkes::NavigatorInterface::set_y ( const float  new_y)

Set y value.

Current Y-coordinate in the navigator coordinate system.

Parameters
new_ynew y value

Definition at line 256 of file NavigatorInterface.cpp.

References fawkes::Interface::data_changed.

◆ tostring_DriveMode()

const char * fawkes::NavigatorInterface::tostring_DriveMode ( DriveMode  value) const

Convert DriveMode constant to string.

Parameters
valuevalue to convert to string
Returns
constant value as string.

Definition at line 142 of file NavigatorInterface.cpp.

Referenced by ColliActThread::init(), and ColliActThread::loop().

◆ tostring_OrientationMode()

const char * fawkes::NavigatorInterface::tostring_OrientationMode ( OrientationMode  value) const

Convert OrientationMode constant to string.

Parameters
valuevalue to convert to string
Returns
constant value as string.

Definition at line 158 of file NavigatorInterface.cpp.

References fawkes::OrientAtTarget.

Referenced by ColliActThread::loop().

◆ x()

float fawkes::NavigatorInterface::x ( ) const

Get x value.

Current X-coordinate in the navigator coordinate system.

Returns
x value

Definition at line 205 of file NavigatorInterface.cpp.

◆ y()

float fawkes::NavigatorInterface::y ( ) const

Get y value.

Current Y-coordinate in the navigator coordinate system.

Returns
y value

Definition at line 236 of file NavigatorInterface.cpp.

Member Data Documentation

◆ ERROR_MOTOR

const uint32_t fawkes::NavigatorInterface::ERROR_MOTOR = 1u
static

ERROR_MOTOR constant.

Definition at line 41 of file NavigatorInterface.h.

◆ ERROR_NONE

const uint32_t fawkes::NavigatorInterface::ERROR_NONE = 0u
static

ERROR_NONE constant.

Definition at line 40 of file NavigatorInterface.h.

◆ ERROR_OBSTRUCTION

const uint32_t fawkes::NavigatorInterface::ERROR_OBSTRUCTION = 2u
static

ERROR_OBSTRUCTION constant.

Definition at line 42 of file NavigatorInterface.h.

◆ ERROR_PATH_GEN_FAIL

const uint32_t fawkes::NavigatorInterface::ERROR_PATH_GEN_FAIL = 8u
static

ERROR_PATH_GEN_FAIL constant.

Definition at line 44 of file NavigatorInterface.h.

◆ ERROR_UNKNOWN_PLACE

const uint32_t fawkes::NavigatorInterface::ERROR_UNKNOWN_PLACE = 4u
static

ERROR_UNKNOWN_PLACE constant.

Definition at line 43 of file NavigatorInterface.h.

◆ FLAG_CART_GOTO

const uint32_t fawkes::NavigatorInterface::FLAG_CART_GOTO = 1u
static

FLAG_CART_GOTO constant.

Definition at line 46 of file NavigatorInterface.h.

◆ FLAG_ESCAPING

const uint32_t fawkes::NavigatorInterface::FLAG_ESCAPING = 32u
static

FLAG_ESCAPING constant.

Definition at line 51 of file NavigatorInterface.h.

◆ FLAG_NONE

const uint32_t fawkes::NavigatorInterface::FLAG_NONE = 0u
static

FLAG_NONE constant.

Definition at line 45 of file NavigatorInterface.h.

◆ FLAG_PLACE_GOTO

const uint32_t fawkes::NavigatorInterface::FLAG_PLACE_GOTO = 4u
static

FLAG_PLACE_GOTO constant.

Definition at line 48 of file NavigatorInterface.h.

◆ FLAG_POLAR_GOTO

const uint32_t fawkes::NavigatorInterface::FLAG_POLAR_GOTO = 2u
static

FLAG_POLAR_GOTO constant.

Definition at line 47 of file NavigatorInterface.h.

◆ FLAG_SECURITY_DISTANCE

const uint32_t fawkes::NavigatorInterface::FLAG_SECURITY_DISTANCE = 16u
static

FLAG_SECURITY_DISTANCE constant.

Definition at line 50 of file NavigatorInterface.h.

◆ FLAG_UPDATES_DEST_DIST

const uint32_t fawkes::NavigatorInterface::FLAG_UPDATES_DEST_DIST = 8u
static

FLAG_UPDATES_DEST_DIST constant.

Definition at line 49 of file NavigatorInterface.h.


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