yarp::dev::Nav2D::INavigation2DControlActions Class Reference

#include <yarp/dev/INavigation2D.h>

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

Public Member Functions
virtual	~INavigation2DControlActions ()
	Destructor.
virtual yarp::dev::ReturnValue	getNavigationStatus (NavigationStatusEnum &status)=0
	Gets the current status of the navigation task.
virtual yarp::dev::ReturnValue	stopNavigation ()=0
	Terminates the current navigation task.
virtual yarp::dev::ReturnValue	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.
virtual yarp::dev::ReturnValue	resumeNavigation ()=0
	Resume a previously suspended navigation task.
virtual yarp::dev::ReturnValue	recomputeCurrentNavigationPath ()=0
	Forces the navigation system to recompute the path from the current robot position to the current goal.
virtual yarp::dev::ReturnValue	getAllNavigationWaypoints (yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type, yarp::dev::Nav2D::Map2DPath &waypoints)=0
	Returns the list of waypoints generated by the navigation algorithm.
virtual yarp::dev::ReturnValue	getCurrentNavigationWaypoint (yarp::dev::Nav2D::Map2DLocation &curr_waypoint)=0
	Returns the current waypoint pursued by the navigation algorithm.
virtual yarp::dev::ReturnValue	getCurrentNavigationMap (yarp::dev::Nav2D::NavigationMapTypeEnum map_type, yarp::dev::Nav2D::MapGrid2D &map)=0
	Returns the current navigation map processed by the navigation algorithm.

Detailed Description

Definition at line 150 of file INavigation2D.h.

Constructor & Destructor Documentation

~INavigation2DControlActions()

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

inlinevirtual

Destructor.

Definition at line 156 of file INavigation2D.h.

Member Function Documentation

getAllNavigationWaypoints()

virtual yarp::dev::ReturnValue 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_type	specifies if we are requesting the waypoints of the global trajectory or the waypoints of the local trajectory
waypoints	the list of waypoints generated by the navigation algorithm

Returns

a ReturnValue, convertible to true/false

Implemented in FakeNavigation, and Navigation2D_nwc_yarp.

getCurrentNavigationMap()

virtual yarp::dev::ReturnValue 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_type	the map to be requested (e.g. global, local, etc.)
map	the map, currently used by the navigation algorithm

Returns

a ReturnValue, convertible to true/false

Implemented in FakeNavigation, and Navigation2D_nwc_yarp.

getCurrentNavigationWaypoint()

virtual yarp::dev::ReturnValue yarp::dev::Nav2D::INavigation2DControlActions::getCurrentNavigationWaypoint ( yarp::dev::Nav2D::Map2DLocation &  curr_waypoint )

pure virtual

Returns the current waypoint pursued by the navigation algorithm.

Parameters

curr_waypoint

the current waypoint pursued by the navigation algorithm

Returns

a ReturnValue, convertible to true/false

Implemented in FakeNavigation, and Navigation2D_nwc_yarp.

getNavigationStatus()

virtual yarp::dev::ReturnValue yarp::dev::Nav2D::INavigation2DControlActions::getNavigationStatus ( NavigationStatusEnum &  status )

pure virtual

Gets the current status of the navigation task.

Returns

a ReturnValue, convertible to true/false

Implemented in FakeNavigation, and Navigation2D_nwc_yarp.

recomputeCurrentNavigationPath()

virtual yarp::dev::ReturnValue 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

a ReturnValue, convertible to true/false

Implemented in FakeNavigation, and Navigation2D_nwc_yarp.

resumeNavigation()

virtual yarp::dev::ReturnValue yarp::dev::Nav2D::INavigation2DControlActions::resumeNavigation ( )

pure virtual

Resume a previously suspended navigation task.

Returns

a ReturnValue, convertible to true/false

Implemented in FakeNavigation, and Navigation2D_nwc_yarp.

stopNavigation()

virtual yarp::dev::ReturnValue yarp::dev::Nav2D::INavigation2DControlActions::stopNavigation ( )

pure virtual

Terminates the current navigation task.

Cannot be resumed.

Returns

a ReturnValue, convertible to true/false

Implemented in FakeNavigation, and Navigation2D_nwc_yarp.

suspendNavigation()

virtual yarp::dev::ReturnValue 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

a ReturnValue, convertible to true/false

Implemented in Navigation2D_nwc_yarp, and FakeNavigation.

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

• src/libYARP_dev/src/yarp/dev/INavigation2D.h