auv_control::WaypointNavigator Class Reference

The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. More...

#include <WaypointNavigator.hpp>

Inheritance diagram for auv_control::WaypointNavigator:

Public Member Functions
	WaypointNavigator (std::string const &name="auv_control::WaypointNavigator")
	WaypointNavigator (std::string const &name, RTT::ExecutionEngine *engine)
	~WaypointNavigator ()
void	updateHook ()
	The following lines are template definitions for the various state machine. More...
void	errorHook ()
void	stopHook ()
void	cleanupHook ()

Protected Attributes
std::list< base::LinearAngular6DWaypoint >	waypoints
base::samples::RigidBodyState	last_pose
base::LinearAngular6DWaypoint	wp
bool	keep_position
base::Time	start_keeping

Friends
class	WaypointNavigatorBase

Detailed Description

The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow.

The name of a TaskContext is primarily defined via:

deployment 'deployment_name'
    task('custom_task_name','auv_control::WaypointNavigator')
end

It can be dynamically adapted when the deployment is called with a prefix argument.

Constructor & Destructor Documentation

WaypointNavigator() [1/2]

WaypointNavigator::WaypointNavigator

(

std::string const &

name = "auv_control::WaypointNavigator"

)

TaskContext constructor for WaypointNavigator

Parameters

name	Name of the task. This name needs to be unique to make it identifiable via nameservices.

WaypointNavigator() [2/2]

WaypointNavigator::WaypointNavigator	(	std::string const &	name,
		RTT::ExecutionEngine *	engine
	)

TaskContext constructor for WaypointNavigator

Parameters

name	Name of the task. This name needs to be unique to make it identifiable for nameservices.
engine	The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task.

~WaypointNavigator()

WaypointNavigator::~WaypointNavigator

(

)

Default deconstructor of WaypointNavigator

Member Function Documentation

cleanupHook()

void WaypointNavigator::cleanupHook

(

)

This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.

errorHook()

void WaypointNavigator::errorHook

(

)

This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.

Call recover() to go back in the Runtime state.

stopHook()

void WaypointNavigator::stopHook

(

)

This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

updateHook()

void WaypointNavigator::updateHook

(

)

The following lines are template definitions for the various state machine.

This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.

It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):

task_context "TaskName" do
  needs_configuration
  ...
end

This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called. This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called.

The error(), exception() and fatal() calls, when called in this hook, allow to get into the associated RunTimeError, Exception and FatalError states.

In the first case, updateHook() is still called, and recover() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook(). In Exception, the component is stopped and recover() needs to be called before starting it again. Finally, FatalError cannot be recovered.

Friends And Related Function Documentation

WaypointNavigatorBase

friend class WaypointNavigatorBase

friend

Member Data Documentation

keep_position

bool auv_control::WaypointNavigator::keep_position

protected

last_pose

base::samples::RigidBodyState auv_control::WaypointNavigator::last_pose

protected

start_keeping

base::Time auv_control::WaypointNavigator::start_keeping

protected

waypoints

std::list<base::LinearAngular6DWaypoint> auv_control::WaypointNavigator::waypoints

protected

wp

base::LinearAngular6DWaypoint auv_control::WaypointNavigator::wp

protected

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

• /build/rock-master-18.09-control-orogen-auv-control-0.20180621/tasks/WaypointNavigator.hpp
• /build/rock-master-18.09-control-orogen-auv-control-0.20180621/tasks/WaypointNavigator.cpp