Class is an implementation of multiagent navigation ROS module. More...

#include <ROSMission.h>

Public Member Functions
bool	PrepareSimulation ()
	Prepare simulation of multiagen navigation. Read task from XML file. Create ROS service for agent initialization. More...

	ROSMission (std::string fileName, size_t agNum, int threashold=-1, bool endOnFin=false)
	ROSMission constructor with parameters. Initialize multiagent simulation. Creates ROS topics and services. More...

void	StartSimulation ()
	Start multiagent simulation execution. More...

	~ROSMission ()
	Default ROSMission destructor. More...

Private Member Functions
void	GenerateAgentStateMsg ()

bool	InitAgent (ORCAStar::Init::Request &req, ORCAStar::Init::Response &res)

bool	IsFinished ()

bool	ReadTask ()

void	UpdateState ()

void	UpdateVelocity (const ORCAStar::AgentVelocity &msg)

Detailed Description

Class is an implementation of multiagent navigation ROS module.

Definition at line 28 of file ROSMission.h.

Constructor & Destructor Documentation

ROSMission constructor with parameters. Initialize multiagent simulation. Creates ROS topics and services.

Parameters

fileName	Path to XML file with multiagent task
agNum	Number of agents
threashold	Simulation step threashold (default - no threashold)
endOnFin	End the simulation when the threshold is reached or when all agents reach their finish positions

Definition at line 10 of file ROSMission.cpp.

ROSMission::~ROSMission ( )

Default ROSMission destructor.

Definition at line 40 of file ROSMission.cpp.

void ROSMission::GenerateAgentStateMsg ( )

private

Definition at line 72 of file ROSMission.cpp.

private

Definition at line 146 of file ROSMission.cpp.

bool ROSMission::IsFinished ( )

private

Definition at line 190 of file ROSMission.cpp.

bool ROSMission::PrepareSimulation ( )

Prepare simulation of multiagen navigation. Read task from XML file. Create ROS service for agent initialization.

Definition at line 111 of file ROSMission.cpp.

bool ROSMission::ReadTask ( )

private

Definition at line 137 of file ROSMission.cpp.

void ROSMission::StartSimulation ( )

Start multiagent simulation execution.

Definition at line 48 of file ROSMission.cpp.

void ROSMission::UpdateState ( )

private

Definition at line 100 of file ROSMission.cpp.

void ROSMission::UpdateVelocity ( const ORCAStar::AgentVelocity & msg )

private

Definition at line 93 of file ROSMission.cpp.

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