YARP
Yet Another Robot Platform
yarp::dev::Nav2D::INavigation2DControlActions Class Referenceabstract

#include <yarp/dev/INavigation2D.h>

+ Inheritance diagram for yarp::dev::Nav2D::INavigation2DControlActions:

Public Member Functions

virtual ~INavigation2DControlActions ()
 Destructor. More...
 
virtual bool getNavigationStatus (NavigationStatusEnum &status)=0
 Gets the current status of the navigation task. More...
 
virtual bool stopNavigation ()=0
 Terminates the current navigation task. More...
 
virtual bool suspendNavigation (const double time_s=std::numeric_limits< double >::infinity())=0
 Ask to the robot to suspend the current navigation task for a defined amount of time. More...
 
virtual bool resumeNavigation ()=0
 Resume a previously suspended navigation task. More...
 
virtual bool recomputeCurrentNavigationPath ()=0
 Forces the navigation system to recompute the path from the current robot position to the current goal. More...
 
virtual bool getAllNavigationWaypoints (yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type, yarp::dev::Nav2D::Map2DPath &waypoints)=0
 Returns the list of waypoints generated by the navigation algorithm. More...
 
virtual bool getCurrentNavigationWaypoint (yarp::dev::Nav2D::Map2DLocation &curr_waypoint)=0
 Returns the current waypoint pursued by the navigation algorithm. More...
 
virtual bool getCurrentNavigationMap (yarp::dev::Nav2D::NavigationMapTypeEnum map_type, yarp::dev::Nav2D::MapGrid2D &map)=0
 Returns the current navigation map processed by the navigation algorithm. More...
 

Detailed Description

Definition at line 142 of file INavigation2D.h.

Constructor & Destructor Documentation

◆ ~INavigation2DControlActions()

virtual yarp::dev::Nav2D::INavigation2DControlActions::~INavigation2DControlActions ( )
inlinevirtual

Destructor.

Definition at line 148 of file INavigation2D.h.

Member Function Documentation

◆ getAllNavigationWaypoints()

virtual bool yarp::dev::Nav2D::INavigation2DControlActions::getAllNavigationWaypoints ( yarp::dev::Nav2D::TrajectoryTypeEnum  trajectory_type,
yarp::dev::Nav2D::Map2DPath waypoints 
)
pure virtual

Returns the list of waypoints generated by the navigation algorithm.

Parameters
trajectory_typespecifies if we are requesting the waypoints of the global trajectory or the waypoints of the local trajectory
waypointsthe list of waypoints generated by the navigation algorithm
Returns
true/false

Implemented in fakeNavigation, and Navigation2D_nwc_yarp.

◆ getCurrentNavigationMap()

virtual bool yarp::dev::Nav2D::INavigation2DControlActions::getCurrentNavigationMap ( yarp::dev::Nav2D::NavigationMapTypeEnum  map_type,
yarp::dev::Nav2D::MapGrid2D map 
)
pure virtual

Returns the current navigation map processed by the navigation algorithm.

Parameters
map_typethe map to be requested (e.g. global, local, etc.)
mapthe map, currently used by the navigation algorithm
Returns
true/false

Implemented in fakeNavigation, and Navigation2D_nwc_yarp.

◆ getCurrentNavigationWaypoint()

virtual bool yarp::dev::Nav2D::INavigation2DControlActions::getCurrentNavigationWaypoint ( yarp::dev::Nav2D::Map2DLocation curr_waypoint)
pure virtual

Returns the current waypoint pursued by the navigation algorithm.

Parameters
curr_waypointthe current waypoint pursued by the navigation algorithm
Returns
true/false

Implemented in fakeNavigation, and Navigation2D_nwc_yarp.

◆ getNavigationStatus()

virtual bool yarp::dev::Nav2D::INavigation2DControlActions::getNavigationStatus ( NavigationStatusEnum status)
pure virtual

Gets the current status of the navigation task.

Returns
true/false

Implemented in fakeNavigation, and Navigation2D_nwc_yarp.

◆ recomputeCurrentNavigationPath()

virtual bool yarp::dev::Nav2D::INavigation2DControlActions::recomputeCurrentNavigationPath ( )
pure virtual

Forces the navigation system to recompute the path from the current robot position to the current goal.

If no goal has been set, the command has no effect.

Returns
true/false

Implemented in fakeNavigation, and Navigation2D_nwc_yarp.

◆ resumeNavigation()

virtual bool yarp::dev::Nav2D::INavigation2DControlActions::resumeNavigation ( )
pure virtual

Resume a previously suspended navigation task.

Returns
true/false

Implemented in fakeNavigation, and Navigation2D_nwc_yarp.

◆ stopNavigation()

virtual bool yarp::dev::Nav2D::INavigation2DControlActions::stopNavigation ( )
pure virtual

Terminates the current navigation task.

Cannot be resumed.

Returns
true/false

Implemented in fakeNavigation, and Navigation2D_nwc_yarp.

◆ suspendNavigation()

virtual bool yarp::dev::Nav2D::INavigation2DControlActions::suspendNavigation ( const double  time_s = std::numeric_limits< double >::infinity())
pure virtual

Ask to the robot to suspend the current navigation task for a defined amount of time.

Can be resumed by resume().

Parameters
time_s
Returns
true/false

Implemented in Navigation2D_nwc_yarp, and fakeNavigation.


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