The Local Waypoint Driver allows for the driving of platform to a target waypoint. More...
#include <localwaypointdriver.h>
Public Member Functions | |
| LocalWaypointDriver () | |
| Constructor. | |
| virtual | ~LocalWaypointDriver () |
| Destructor. | |
| virtual Message * | GenerateDriveCommand (const Byte status)=0 |
| virtual Message * | GenerateIdleDriveCommand (const Byte status) const =0 |
| virtual bool | IsWaypointAchieved (const LocalPose ¤tPose, const JAUS::SetLocalWaypoint &desiredWaypoint) const =0 |
| virtual void | WaypointDriverUpdateEvent (const unsigned int timeSinceLastUpdateMs) |
| virtual void | WaypointAchieved (const JAUS::SetLocalWaypoint &waypoint)=0 |
| virtual bool | SetLocalWaypoint (const JAUS::SetLocalWaypoint *command) |
| Sets the current desired destination. | |
| virtual bool | SetDesiredTravelSpeed (const JAUS::SetTravelSpeed *command) |
| virtual bool | SetDesiredTravelSpeed (const double speed) |
| Sets the current desired destination. | |
| virtual bool | SetDriverToControl (const Address &driver) |
| Sets the Address of the Driver to control. | |
| virtual JAUS::SetLocalWaypoint | GetLocalWaypoint () const |
| Returns the current Local Waypoint command received. | |
| virtual LocalPose | GetLocalPose () const |
| Returns the current Local Pose reported by the Local Pose sensor. | |
| virtual VelocityState | GetVelocityState () const |
| Returns the current Velocity State reported by the Velocity State sensor. | |
| virtual JAUS::SetTravelSpeed | GetDesiredTravelSpeed () const |
| Returns the desired Travel Speed command received. | |
| virtual Time | GetLocalWaypointTime () const |
| virtual Time | GetTravelSpeedTime () const |
| virtual Address | GetControlledDriverID () const |
| virtual bool | GenerateEvent (const Events::Subscription &info) const |
| Generates an event for the given information. | |
| virtual bool | IsEventSupported (const Events::Type type, const double requestedPeriodicRate, const Message *queryMessage, double &confirmedPeriodicRate, std::string &errorMessage) const |
| Checks if the event is supported by the Service. | |
| virtual bool | IsDiscoverable () const |
| virtual void | Receive (const Message *message) |
| Processes message received by the Service. If not supported, then message is passed to inheriting services depending on what type of control has been established for the component. | |
| virtual Message * | CreateMessage (const UShort messageCode) const |
| Attempts to create the message desired. Only message supported by this Service can be created by this Service. | |
| virtual void | PrintStatus () const |
| Prints the status of the Local Waypoint Driver. | |
| virtual bool | Resume () |
| Method called when transitioning to a resume state. Confirms subscription to Sensors, and control of Driver. | |
| virtual bool | Reset () |
| // Method called to transition due to reset. Release Control of Driver, clear all data. | |
| virtual bool | Standby () |
| Method called when transitioning to a standby state. Release Control of the Driver and remove subscriptions if any. | |
| virtual bool | SetEmergency () |
| Method called when transitioning to an emergency state. Try to send a Idle command to the controlled Driver. Afterwards, Release control of the Driver and remove subscriptions if any. | |
| virtual bool | ClearEmergency () |
| Method called when leaving the emergency state, try to resume the the Waypoint if any. | |
| virtual bool | ReleaseControl () |
| Method called when control is released. Does not stop operatoin of driver. | |
Static Public Attributes | |
| static const std::string | Name = "urn:jaus:jss:mobility:LocalWaypointDriver" |
| String name of the Service. | |
The Local Waypoint Driver allows for the driving of platform to a target waypoint.
single target waypoint, desired travel speed, current platform pose and current velocity state. A single waypoint is provided via the Set Local Waypoint message. The waypoint remains unchanged until a new Set Local Waypoint message is received. A waypoint consists of the desired position and orientation of the platform. The second input consists of the desired travel speed. The travel speed remains unchanged unless a new Set Travel Speed Message is received. The travel speed may then be changed at any time during waypoint navigation. The travel speed is reset to zero for all transitions from the Ready State.
This implmentation of this service requires at a minimum a Local Pose and Velocity State sensor service on the same component that this service belongs to. The sensor services can be synchronizing versions of the services also (see example_synchronize.cpp for how to do this).
Definition at line 82 of file localwaypointdriver.h.
| LocalWaypointDriver::LocalWaypointDriver | ( | ) |
Constructor.
Definition at line 54 of file localwaypointdriver.cpp.
| LocalWaypointDriver::~LocalWaypointDriver | ( | ) | [virtual] |
Destructor.
Definition at line 69 of file localwaypointdriver.cpp.
| bool LocalWaypointDriver::ClearEmergency | ( | ) | [virtual] |
Method called when leaving the emergency state, try to resume the the Waypoint if any.
Reimplemented from JAUS::Management::Child.
Definition at line 520 of file localwaypointdriver.cpp.
Attempts to create the message desired. Only message supported by this Service can be created by this Service.
| [in] | messageCode | Message to create. |
Implements JAUS::Service.
Definition at line 391 of file localwaypointdriver.cpp.
| virtual Message* JAUS::LocalWaypointDriver::GenerateDriveCommand | ( | const Byte | status ) | [pure virtual] |
| bool LocalWaypointDriver::GenerateEvent | ( | const Events::Subscription & | info ) | const [virtual] |
Generates an event for the given information.
| [in] | info | The event information (ID, Sequence #, etc.) for generation. |
Implements JAUS::Events::Child.
Definition at line 231 of file localwaypointdriver.cpp.
| virtual Message* JAUS::LocalWaypointDriver::GenerateIdleDriveCommand | ( | const Byte | status ) | const [pure virtual] |
| Address LocalWaypointDriver::GetControlledDriverID | ( | ) | const [virtual] |
Definition at line 215 of file localwaypointdriver.cpp.
| SetTravelSpeed LocalWaypointDriver::GetDesiredTravelSpeed | ( | ) | const [virtual] |
Returns the desired Travel Speed command received.
Definition at line 177 of file localwaypointdriver.cpp.
| LocalPose LocalWaypointDriver::GetLocalPose | ( | ) | const [virtual] |
Returns the current Local Pose reported by the Local Pose sensor.
Definition at line 148 of file localwaypointdriver.cpp.
| SetLocalWaypoint LocalWaypointDriver::GetLocalWaypoint | ( | ) | const [virtual] |
Returns the current Local Waypoint command received.
Definition at line 134 of file localwaypointdriver.cpp.
| Time LocalWaypointDriver::GetLocalWaypointTime | ( | ) | const [virtual] |
Definition at line 190 of file localwaypointdriver.cpp.
| Time LocalWaypointDriver::GetTravelSpeedTime | ( | ) | const [virtual] |
Definition at line 203 of file localwaypointdriver.cpp.
| VelocityState LocalWaypointDriver::GetVelocityState | ( | ) | const [virtual] |
Returns the current Velocity State reported by the Velocity State sensor.
Definition at line 163 of file localwaypointdriver.cpp.
| virtual bool JAUS::LocalWaypointDriver::IsDiscoverable | ( | ) | const [inline, virtual] |
Implements JAUS::Service.
Definition at line 130 of file localwaypointdriver.h.
| bool LocalWaypointDriver::IsEventSupported | ( | const Events::Type | type, |
| const double | requestedPeriodicRate, | ||
| const Message * | queryMessage, | ||
| double & | confirmedPeriodicRate, | ||
| std::string & | errorMessage | ||
| ) | const [virtual] |
Checks if the event is supported by the Service.
| [in] | type | The event type (Periodic/EveryChange). |
| [in] | requestedPeriodicRate | If type == Periodic, then this is the desired update rate. |
| [in] | queryMessage | The query message associated with the event. |
| [out] | confirmedPeriodicRate | This is the confirmed periodic rate supported by the Service. |
| [out] | errorMessage | If not supported, this is an optional error message. |
Implements JAUS::Events::Child.
Definition at line 285 of file localwaypointdriver.cpp.
| virtual bool JAUS::LocalWaypointDriver::IsWaypointAchieved | ( | const LocalPose & | currentPose, |
| const JAUS::SetLocalWaypoint & | desiredWaypoint | ||
| ) | const [pure virtual] |
| void LocalWaypointDriver::PrintStatus | ( | ) | const [virtual] |
Prints the status of the Local Waypoint Driver.
Reimplemented from JAUS::Service.
Definition at line 427 of file localwaypointdriver.cpp.
| void LocalWaypointDriver::Receive | ( | const Message * | message ) | [virtual] |
Processes message received by the Service. If not supported, then message is passed to inheriting services depending on what type of control has been established for the component.
This Service supports LocalWaypointDriver related messages only.
| [in] | message | Message data to process. |
Reimplemented from JAUS::Service.
Definition at line 318 of file localwaypointdriver.cpp.
| bool LocalWaypointDriver::ReleaseControl | ( | ) | [virtual] |
Method called when control is released. Does not stop operatoin of driver.
Reimplemented from JAUS::Management::Child.
Definition at line 532 of file localwaypointdriver.cpp.
| bool LocalWaypointDriver::Reset | ( | ) | [virtual] |
// Method called to transition due to reset. Release Control of Driver, clear all data.
Implements JAUS::Management::Child.
Definition at line 464 of file localwaypointdriver.cpp.
| bool LocalWaypointDriver::Resume | ( | ) | [virtual] |
Method called when transitioning to a resume state. Confirms subscription to Sensors, and control of Driver.
Implements JAUS::Management::Child.
Definition at line 452 of file localwaypointdriver.cpp.
| bool LocalWaypointDriver::SetDesiredTravelSpeed | ( | const double | speed ) | [virtual] |
Sets the current desired destination.
| [in] | speed | The desired speed of the Platform. |
Definition at line 96 of file localwaypointdriver.cpp.
| virtual bool JAUS::LocalWaypointDriver::SetDesiredTravelSpeed | ( | const JAUS::SetTravelSpeed * | command ) | [inline, virtual] |
Definition at line 102 of file localwaypointdriver.h.
| bool LocalWaypointDriver::SetDriverToControl | ( | const Address & | driver ) | [virtual] |
Sets the Address of the Driver to control.
Definition at line 113 of file localwaypointdriver.cpp.
| bool LocalWaypointDriver::SetEmergency | ( | ) | [virtual] |
Method called when transitioning to an emergency state. Try to send a Idle command to the controlled Driver. Afterwards, Release control of the Driver and remove subscriptions if any.
Reimplemented from JAUS::Management::Child.
Definition at line 499 of file localwaypointdriver.cpp.
| bool LocalWaypointDriver::SetLocalWaypoint | ( | const JAUS::SetLocalWaypoint * | command ) | [virtual] |
Sets the current desired destination.
Definition at line 79 of file localwaypointdriver.cpp.
| bool LocalWaypointDriver::Standby | ( | ) | [virtual] |
Method called when transitioning to a standby state. Release Control of the Driver and remove subscriptions if any.
Implements JAUS::Management::Child.
Definition at line 486 of file localwaypointdriver.cpp.
| virtual void JAUS::LocalWaypointDriver::WaypointAchieved | ( | const JAUS::SetLocalWaypoint & | waypoint ) | [pure virtual] |
| virtual void JAUS::LocalWaypointDriver::WaypointDriverUpdateEvent | ( | const unsigned int | timeSinceLastUpdateMs ) | [inline, virtual] |
Definition at line 96 of file localwaypointdriver.h.
const std::string LocalWaypointDriver::Name = "urn:jaus:jss:mobility:LocalWaypointDriver" [static] |
String name of the Service.
Definition at line 85 of file localwaypointdriver.h.
1.7.2
