navigation2D_nwc_yarp: A device which allows a client application to perform navigation tasks, such as commanding the robot to reach a specific location in a map. More...

#include <networkWrappers/navigation2D_nwc_yarp/Navigation2D_nwc_yarp.h>

Inheritance diagram for Navigation2D_nwc_yarp:

Public Member Functions
bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

bool	parse_respond_string (const yarp::os::Bottle &command, yarp::os::Bottle &reply)

virtual bool	read (yarp::os::ConnectionReader &connection) override
	Read this object from a network connection.

yarp::dev::ReturnValue	checkInsideArea (yarp::dev::Nav2D::Map2DArea area, bool &is_inside) override
	Check if the robot is currently inside the specified area.

yarp::dev::ReturnValue	checkInsideArea (std::string area_name, bool &is_inside) override
	Check if the robot is currently inside the specified area.

yarp::dev::ReturnValue	checkNearToLocation (yarp::dev::Nav2D::Map2DLocation loc, bool &is_near, double linear_tolerance, double angular_tolerance=std::numeric_limits< double >::infinity()) override
	Check if the robot is currently near to the specified area.

yarp::dev::ReturnValue	checkNearToLocation (std::string location_name, bool &is_near, double linear_tolerance, double angular_tolerance=std::numeric_limits< double >::infinity()) override
	Check if the robot is currently near to the specified area.

yarp::dev::ReturnValue	storeCurrentPosition (std::string location_name) override
	Store the current location of the robot.

yarp::dev::ReturnValue	getNavigationStatus (yarp::dev::Nav2D::NavigationStatusEnum &status) override
	Gets the current status of the navigation task.

yarp::dev::ReturnValue	recomputeCurrentNavigationPath () override
	Forces the navigation system to recompute the path from the current robot position to the current goal.

yarp::dev::ReturnValue	stopNavigation () override
	Terminates the current navigation task.

yarp::dev::ReturnValue	suspendNavigation (const double time_s) override
	Ask to the robot to suspend the current navigation task for a defined amount of time.

yarp::dev::ReturnValue	resumeNavigation () override
	Resume a previously suspended navigation task.

yarp::dev::ReturnValue	getAllNavigationWaypoints (yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type, yarp::dev::Nav2D::Map2DPath &waypoints) override
	Returns the list of waypoints generated by the navigation algorithm.

yarp::dev::ReturnValue	getCurrentNavigationWaypoint (yarp::dev::Nav2D::Map2DLocation &curr_waypoint) override
	Returns the current waypoint pursued by the navigation algorithm.

yarp::dev::ReturnValue	getCurrentNavigationMap (yarp::dev::Nav2D::NavigationMapTypeEnum map_type, yarp::dev::Nav2D::MapGrid2D &map) override
	Returns the current navigation map processed by the navigation algorithm.

yarp::dev::ReturnValue	gotoTargetByAbsoluteLocation (yarp::dev::Nav2D::Map2DLocation loc) override
	Ask the robot to reach a position defined in the world reference frame.

yarp::dev::ReturnValue	gotoTargetByLocationName (std::string location_name) override
	Ask the robot to reach a previously stored location/area.

yarp::dev::ReturnValue	gotoTargetByRelativeLocation (double x, double y, double theta) override
	Ask the robot to reach a position defined in the robot reference frame.

yarp::dev::ReturnValue	gotoTargetByRelativeLocation (double x, double y) override
	Ask the robot to reach a position defined in the robot reference frame.

yarp::dev::ReturnValue	followPath (const yarp::dev::Nav2D::Map2DPath &locs) override
	Ask the robot to navigate through a set of locations defined in the world reference frame.

yarp::dev::ReturnValue	getAbsoluteLocationOfCurrentTarget (yarp::dev::Nav2D::Map2DLocation &loc) override
	Gets the last navigation target in the world reference frame.

yarp::dev::ReturnValue	getNameOfCurrentTarget (std::string &location_name) override
	Gets the name of the current target, if available (set by gotoTargetByLocationName)

yarp::dev::ReturnValue	getRelativeLocationOfCurrentTarget (double &x, double &y, double &theta) override
	Gets the last navigation target in the robot reference frame.

yarp::dev::ReturnValue	applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1) override
	Apply a velocity command.

yarp::dev::ReturnValue	getLastVelocityCommand (double &x_vel, double &y_vel, double &theta_vel) override
	Returns the last applied velocity command.

yarp::dev::ReturnValue	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc) override
	Gets the current position of the robot w.r.t world reference frame.

yarp::dev::ReturnValue	getEstimatedOdometry (yarp::dev::OdometryData &odom) override
	Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame.

yarp::dev::ReturnValue	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc) override
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

yarp::dev::ReturnValue	getLocalizationStatus (yarp::dev::Nav2D::LocalizationStatusEnum &status) override
	Gets the current status of the localization task.

yarp::dev::ReturnValue	getEstimatedPoses (std::vector< yarp::dev::Nav2D::Map2DLocation > &poses) override
	Gets a set of pose estimates computed by the localization algorithm.

yarp::dev::ReturnValue	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc, const yarp::sig::Matrix &cov) override
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

yarp::dev::ReturnValue	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc, yarp::sig::Matrix &cov) override
	Gets the current position of the robot w.r.t world reference frame, plus the covariance.

yarp::dev::ReturnValue	startLocalizationService () override
	Starts the localization service.

yarp::dev::ReturnValue	stopLocalizationService () override
	Stops the localization service.

yarp::dev::ReturnValue	storeLocation (std::string location_name, yarp::dev::Nav2D::Map2DLocation loc) override
	Store a location specified by the user in the world reference frame.

yarp::dev::ReturnValue	storeArea (std::string location_name, yarp::dev::Nav2D::Map2DArea area) override
	Store an area.

yarp::dev::ReturnValue	storePath (std::string path_name, yarp::dev::Nav2D::Map2DPath path) override
	Store a path.

yarp::dev::ReturnValue	getLocation (std::string location_name, yarp::dev::Nav2D::Map2DLocation &loc) override
	Retrieves a location specified by the user in the world reference frame.

yarp::dev::ReturnValue	getArea (std::string location_name, yarp::dev::Nav2D::Map2DArea &area) override
	Retrieves an area.

yarp::dev::ReturnValue	getPath (std::string path_name, yarp::dev::Nav2D::Map2DPath &path) override
	Retrieves a path.

yarp::dev::ReturnValue	renameLocation (std::string original_name, std::string new_name) override
	Searches for a location and renames it.

yarp::dev::ReturnValue	renameArea (std::string original_name, std::string new_name) override
	Searches for an area and renames it.

yarp::dev::ReturnValue	renamePath (std::string original_name, std::string new_name) override
	Searches for a path and renames it.

yarp::dev::ReturnValue	deleteLocation (std::string location_name) override
	Delete a location.

yarp::dev::ReturnValue	deleteArea (std::string location_name) override
	Delete an area.

yarp::dev::ReturnValue	deletePath (std::string path_name) override
	Delete a path.

yarp::dev::ReturnValue	getLocationsList (std::vector< std::string > &locations) override
	Get a list of the names of all stored locations.

yarp::dev::ReturnValue	getAreasList (std::vector< std::string > &locations) override
	Get a list of the names of all stored areas.

yarp::dev::ReturnValue	getPathsList (std::vector< std::string > &paths) override
	Get a list of the names of all stored paths.

yarp::dev::ReturnValue	getAllLocations (std::vector< yarp::dev::Nav2D::Map2DLocation > &locations) override
	Get a list of all stored locations.

yarp::dev::ReturnValue	getAllAreas (std::vector< yarp::dev::Nav2D::Map2DArea > &areas) override
	Get a list of all stored areas.

yarp::dev::ReturnValue	getAllPaths (std::vector< yarp::dev::Nav2D::Map2DPath > &paths) override
	Get a list of all stored paths.

yarp::dev::ReturnValue	clearAllLocations () override
	Delete all stored locations.

yarp::dev::ReturnValue	clearAllAreas () override
	Delete all stored areas.

yarp::dev::ReturnValue	clearAllPaths () override
	Delete all stored paths.

yarp::dev::ReturnValue	clearAllMaps () override
	Removes all the registered maps from the server.

yarp::dev::ReturnValue	remove_map (std::string map_name) override
	Removes a map from the map server.

yarp::dev::ReturnValue	store_map (const yarp::dev::Nav2D::MapGrid2D &map) override
	Stores a map into the map server.

yarp::dev::ReturnValue	get_map (std::string map_name, yarp::dev::Nav2D::MapGrid2D &map) override
	Gets a map from the map server.

yarp::dev::ReturnValue	get_map_names (std::vector< std::string > &map_names) override
	Gets a list containing the names of all registered maps.

yarp::dev::ReturnValue	clearAllMapsTemporaryFlags () override
	Clear all temporary flags from all stored maps.

yarp::dev::ReturnValue	clearMapTemporaryFlags (std::string map_name) override
	Clear all temporary flags from a specific map.

yarp::dev::ReturnValue	saveMapsCollection (std::string maps_collection_file) override
	Save a collection of maps to disk.

yarp::dev::ReturnValue	loadMapsCollection (std::string maps_collection_file) override
	Load a collection of maps from disk.

yarp::dev::ReturnValue	saveLocationsAndExtras (std::string locations_collection_file) override
	Save a collection of locations/area/paths etc to disk.

yarp::dev::ReturnValue	loadLocationsAndExtras (std::string locations_collection_file) override
	Load a collection of locations/areas/paths etc from disk.

yarp::dev::ReturnValue	saveMapToDisk (std::string map_name, std::string file_name) override
	Save a map to disk.

yarp::dev::ReturnValue	loadMapFromDisk (std::string file_name) override
	Load a map from disk.

yarp::dev::ReturnValue	enableMapsCompression (bool enable) override
	Enable/disables maps compression over the network.

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::dev::Nav2D::INavigation2D
virtual	~INavigation2D ()
	Destructor.

Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DTargetActions
virtual	~INavigation2DTargetActions ()
	Destructor.

Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DControlActions
virtual	~INavigation2DControlActions ()
	Destructor.

Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DVelocityActions
virtual	~INavigation2DVelocityActions ()
	Destructor.

Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DExtraActions
virtual	~INavigation2DExtraActions ()
	Destructor.

Public Member Functions inherited from yarp::dev::Nav2D::IMap2D
virtual	~IMap2D ()
	Destructor.

Public Member Functions inherited from yarp::dev::Nav2D::ILocalization2D
virtual	~ILocalization2D ()
	Destructor.

Public Member Functions inherited from yarp::os::PortReader
virtual	~PortReader ()
	Destructor.

virtual Type	getReadType () const

Public Member Functions inherited from Navigation2D_nwc_yarp_ParamsParser
	Navigation2D_nwc_yarp_ParamsParser ()

	~Navigation2D_nwc_yarp_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

bool	getParamValue (const std::string &paramName, std::string &paramValue) const override
	Return the value (represented as a string) of the requested parameter.

std::string	getConfiguration () const override
	Return the configuration of the device.

Public Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Protected Attributes
IMap2DMsgs	m_map_RPC

ILocalization2DMsgs	m_loc_RPC

INavigation2DMsgs	m_nav_RPC

std::mutex	m_mutex

yarp::os::Port	m_rpc_port_to_navigation_server

yarp::os::Port	m_rpc_port_to_Map2DServer

yarp::os::Port	m_rpc_port_to_localization_server

yarp::os::Port	m_rpc_port_user_commands

Additional Inherited Members
Public Attributes inherited from Navigation2D_nwc_yarp_ParamsParser
const std::string	m_device_classname = {"Navigation2D_nwc_yarp"}

const std::string	m_device_name = {"navigation2D_nwc_yarp"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

std::string	m_provided_configuration

const std::string	m_local_defaultValue = {""}

const std::string	m_navigation_server_defaultValue = {""}

const std::string	m_map_locations_server_defaultValue = {""}

const std::string	m_localization_server_defaultValue = {""}

std::string	m_local = {}

std::string	m_navigation_server = {}

std::string	m_map_locations_server = {}

std::string	m_localization_server = {}

Detailed Description

navigation2D_nwc_yarp: A device which allows a client application to perform navigation tasks, such as commanding the robot to reach a specific location in a map.

Navigation2D_nwc_yarp

Parameters required by this device are shown in class: Navigation2D_nwc_yarp_ParamsParser

Definition at line 38 of file Navigation2D_nwc_yarp.h.

Member Function Documentation

◆ applyVelocityCommand()

ReturnValue Navigation2D_nwc_yarp::applyVelocityCommand	(	double	x_vel,
		double	y_vel,
		double	theta_vel,
		double	timeout = `0.1`
	)

overridevirtual

Apply a velocity command.

Velocities are expressed in the robot reference frame.

Parameters

x	[m/s]
y	[m/s]
theta	[deg/s]
timeout	The velocity command expires after the specified amount of time (by default 0.1 seconds)

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DVelocityActions.

Definition at line 42 of file Navigation2D_nwc_yarp_iVelActs.cpp.

◆ checkInsideArea() [1/2]

ReturnValue Navigation2D_nwc_yarp::checkInsideArea	(	std::string	area_name,
		bool &	is_inside
	)

overridevirtual

Check if the robot is currently inside the specified area.

Parameters

area_name the name of an area previously saved

Returns: is_inside true if the robot is inside the area.; a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DExtraActions.

Definition at line 236 of file Navigation2D_nwc_yarp.cpp.

◆ checkInsideArea() [2/2]

ReturnValue Navigation2D_nwc_yarp::checkInsideArea	(	yarp::dev::Nav2D::Map2DArea	area,
		bool &	is_inside
	)

overridevirtual

Check if the robot is currently inside the specified area.

Parameters

area	the area to be checked

Returns: is_inside true if the robot is inside the area.; a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DExtraActions.

Definition at line 221 of file Navigation2D_nwc_yarp.cpp.

◆ checkNearToLocation() [1/2]

ReturnValue Navigation2D_nwc_yarp::checkNearToLocation	(	std::string	location_name,
		bool &	is_near,
		double	linear_tolerance,
		double	angular_tolerance = `std::numeric_limits< double >::infinity()`
	)

overridevirtual

Check if the robot is currently near to the specified area.

Parameters

location_name the name of the location: it will be searched in the server

Returns: is_near true if the robot is near to the area.

Parameters

linear_tolerance	linear tolerance [m]
angular_tolerance	[deg]

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DExtraActions.

Definition at line 198 of file Navigation2D_nwc_yarp.cpp.

◆ checkNearToLocation() [2/2]

ReturnValue Navigation2D_nwc_yarp::checkNearToLocation	(	yarp::dev::Nav2D::Map2DLocation	loc,
		bool &	is_near,
		double	linear_tolerance,
		double	angular_tolerance = `std::numeric_limits< double >::infinity()`
	)

overridevirtual

Check if the robot is currently near to the specified area.

Parameters

loc	the location to be checked

Returns: is_near true if the robot is near to the area.

Parameters

linear_tolerance	linear tolerance [m]
angular_tolerance	[deg 0-360]

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DExtraActions.

Definition at line 183 of file Navigation2D_nwc_yarp.cpp.

◆ clearAllAreas()

ReturnValue Navigation2D_nwc_yarp::clearAllAreas ( )

overridevirtual

Delete all stored areas.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 248 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ clearAllLocations()

ReturnValue Navigation2D_nwc_yarp::clearAllLocations ( )

overridevirtual

Delete all stored locations.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 242 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ clearAllMaps()

ReturnValue Navigation2D_nwc_yarp::clearAllMaps ( )

overridevirtual

Removes all the registered maps from the server.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 46 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ clearAllMapsTemporaryFlags()

ReturnValue Navigation2D_nwc_yarp::clearAllMapsTemporaryFlags ( )

overridevirtual

Clear all temporary flags from all stored maps.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 254 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ clearAllPaths()

ReturnValue Navigation2D_nwc_yarp::clearAllPaths ( )

overridevirtual

Delete all stored paths.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 266 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ clearMapTemporaryFlags()

ReturnValue Navigation2D_nwc_yarp::clearMapTemporaryFlags ( std::string map_name )

overridevirtual

Clear all temporary flags from a specific map.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 260 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ close()

bool Navigation2D_nwc_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 127 of file Navigation2D_nwc_yarp.cpp.

◆ deleteArea()

ReturnValue Navigation2D_nwc_yarp::deleteArea ( std::string area_name )

overridevirtual

Delete an area.

Parameters

area_name the name of the area

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 218 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ deleteLocation()

ReturnValue Navigation2D_nwc_yarp::deleteLocation ( std::string location_name )

overridevirtual

Delete a location.

Parameters

location_name the name of the location

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 206 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ deletePath()

ReturnValue Navigation2D_nwc_yarp::deletePath ( std::string path_name )

overridevirtual

Delete a path.

Parameters

path_name the name of the path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 224 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ enableMapsCompression()

ReturnValue Navigation2D_nwc_yarp::enableMapsCompression ( bool enable )

overridevirtual

Enable/disables maps compression over the network.

Parameters

enable

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 308 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ followPath()

ReturnValue Navigation2D_nwc_yarp::followPath ( const yarp::dev::Nav2D::Map2DPath & path )

overridevirtual

Ask the robot to navigate through a set of locations defined in the world reference frame.

Parameters

path	the locations to be reached

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 73 of file Navigation2D_nwc_yarp_iNav2DTarget.cpp.

◆ get_map()

ReturnValue Navigation2D_nwc_yarp::get_map	(	std::string	map_name,
		yarp::dev::Nav2D::MapGrid2D &	map
	)

overridevirtual

Gets a map from the map server.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 33 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ get_map_names()

ReturnValue Navigation2D_nwc_yarp::get_map_names ( std::vector< std::string > & map_names )

overridevirtual

Gets a list containing the names of all registered maps.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 52 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getAbsoluteLocationOfCurrentTarget()

ReturnValue Navigation2D_nwc_yarp::getAbsoluteLocationOfCurrentTarget ( yarp::dev::Nav2D::Map2DLocation & loc )

overridevirtual

Gets the last navigation target in the world reference frame.

Parameters

loc	the location of the robot

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 45 of file Navigation2D_nwc_yarp_iNav2DTarget.cpp.

◆ getAllAreas()

ReturnValue Navigation2D_nwc_yarp::getAllAreas ( std::vector< yarp::dev::Nav2D::Map2DArea > & areas )

overridevirtual

Get a list of all stored areas.

Parameters

the	returned list of areas

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 141 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getAllLocations()

ReturnValue Navigation2D_nwc_yarp::getAllLocations ( std::vector< yarp::dev::Nav2D::Map2DLocation > & locations )

overridevirtual

Get a list of all stored locations.

Parameters

the	returned list of locations

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 128 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getAllNavigationWaypoints()

ReturnValue Navigation2D_nwc_yarp::getAllNavigationWaypoints	(	yarp::dev::Nav2D::TrajectoryTypeEnum	trajectory_type,
		yarp::dev::Nav2D::Map2DPath &	waypoints
	)

overridevirtual

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

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 64 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ getAllPaths()

ReturnValue Navigation2D_nwc_yarp::getAllPaths ( std::vector< yarp::dev::Nav2D::Map2DPath > & paths )

overridevirtual

Get a list of all stored paths.

Parameters

the	returned list of paths

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 154 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getArea()

ReturnValue Navigation2D_nwc_yarp::getArea	(	std::string	area_name,
		yarp::dev::Nav2D::Map2DArea &	area
	)

overridevirtual

Retrieves an area.

Parameters

area_name	the name of the area
area	the area

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 180 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getAreasList()

ReturnValue Navigation2D_nwc_yarp::getAreasList ( std::vector< std::string > & areas )

overridevirtual

Get a list of the names of all stored areas.

Parameters

the	returned list of areas names

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 102 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getCurrentNavigationMap()

ReturnValue Navigation2D_nwc_yarp::getCurrentNavigationMap	(	yarp::dev::Nav2D::NavigationMapTypeEnum	map_type,
		yarp::dev::Nav2D::MapGrid2D &	map
	)

overridevirtual

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

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 90 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ getCurrentNavigationWaypoint()

ReturnValue Navigation2D_nwc_yarp::getCurrentNavigationWaypoint ( yarp::dev::Nav2D::Map2DLocation & curr_waypoint )

overridevirtual

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

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 77 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ getCurrentPosition() [1/2]

ReturnValue Navigation2D_nwc_yarp::getCurrentPosition ( yarp::dev::Nav2D::Map2DLocation & loc )

overridevirtual

Gets the current position of the robot w.r.t world reference frame.

Parameters

loc	the location of the robot

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 72 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ getCurrentPosition() [2/2]

ReturnValue Navigation2D_nwc_yarp::getCurrentPosition	(	yarp::dev::Nav2D::Map2DLocation &	loc,
		yarp::sig::Matrix &	cov
	)

overridevirtual

Gets the current position of the robot w.r.t world reference frame, plus the covariance.

Parameters

loc	the location of the robot
cov	the 3x3 covariance matrix

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 45 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ getEstimatedOdometry()

ReturnValue Navigation2D_nwc_yarp::getEstimatedOdometry ( yarp::dev::OdometryData & odom )

overridevirtual

Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame.

Parameters

loc	the estimated odometry.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 59 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ getEstimatedPoses()

ReturnValue Navigation2D_nwc_yarp::getEstimatedPoses ( std::vector< yarp::dev::Nav2D::Map2DLocation > & poses )

overridevirtual

Gets a set of pose estimates computed by the localization algorithm.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 98 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ getLastVelocityCommand()

ReturnValue Navigation2D_nwc_yarp::getLastVelocityCommand	(	double &	x_vel,
		double &	y_vel,
		double &	theta_vel
	)

overridevirtual

Returns the last applied velocity command.

Parameters

x	[m/s]
y	[m/s]
theta	[deg/s]

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DVelocityActions.

Definition at line 27 of file Navigation2D_nwc_yarp_iVelActs.cpp.

◆ getLocalizationStatus()

ReturnValue Navigation2D_nwc_yarp::getLocalizationStatus ( yarp::dev::Nav2D::LocalizationStatusEnum & status )

overridevirtual

Gets the current status of the localization task.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 85 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ getLocation()

ReturnValue Navigation2D_nwc_yarp::getLocation	(	std::string	location_name,
		yarp::dev::Nav2D::Map2DLocation &	loc
	)

overridevirtual

Retrieves a location specified by the user in the world reference frame.

Parameters

location_name	the name of the location
loc	the location

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 167 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getLocationsList()

ReturnValue Navigation2D_nwc_yarp::getLocationsList ( std::vector< std::string > & locations )

overridevirtual

Get a list of the names of all stored locations.

Parameters

the	returned list of locations names

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 89 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getNameOfCurrentTarget()

ReturnValue Navigation2D_nwc_yarp::getNameOfCurrentTarget ( std::string & location_name )

overridevirtual

Gets the name of the current target, if available (set by gotoTargetByLocationName)

Parameters

location_name the name of the current target

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DExtraActions.

Definition at line 303 of file Navigation2D_nwc_yarp.cpp.

◆ getNavigationStatus()

ReturnValue Navigation2D_nwc_yarp::getNavigationStatus ( yarp::dev::Nav2D::NavigationStatusEnum & status )

overridevirtual

Gets the current status of the navigation task.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 27 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ getPath()

ReturnValue Navigation2D_nwc_yarp::getPath	(	std::string	path_name,
		yarp::dev::Nav2D::Map2DPath &	path
	)

overridevirtual

Retrieves a path.

Parameters

path_name	the name of the path
path	the path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 193 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getPathsList()

ReturnValue Navigation2D_nwc_yarp::getPathsList ( std::vector< std::string > & paths )

overridevirtual

Get a list of the names of all stored paths.

Parameters

the	returned list of paths names

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 115 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getRelativeLocationOfCurrentTarget()

ReturnValue Navigation2D_nwc_yarp::getRelativeLocationOfCurrentTarget	(	double &	x,
		double &	y,
		double &	theta
	)

overridevirtual

Gets the last navigation target in the robot reference frame.

Parameters

x
y
theta

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 58 of file Navigation2D_nwc_yarp_iNav2DTarget.cpp.

◆ gotoTargetByAbsoluteLocation()

ReturnValue Navigation2D_nwc_yarp::gotoTargetByAbsoluteLocation ( yarp::dev::Nav2D::Map2DLocation loc )

overridevirtual

Ask the robot to reach a position defined in the world reference frame.

Parameters

loc	the location to be reached

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 27 of file Navigation2D_nwc_yarp_iNav2DTarget.cpp.

◆ gotoTargetByLocationName()

ReturnValue Navigation2D_nwc_yarp::gotoTargetByLocationName ( std::string location_or_area_name )

overridevirtual

Ask the robot to reach a previously stored location/area.

Parameters

location_name the name of a location/area previously saved

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DExtraActions.

Definition at line 259 of file Navigation2D_nwc_yarp.cpp.

◆ gotoTargetByRelativeLocation() [1/2]

ReturnValue Navigation2D_nwc_yarp::gotoTargetByRelativeLocation	(	double	x,
		double	y
	)

overridevirtual

Ask the robot to reach a position defined in the robot reference frame.

The final orientation of the goal is unspecified.

Parameters

x
y

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 33 of file Navigation2D_nwc_yarp_iNav2DTarget.cpp.

◆ gotoTargetByRelativeLocation() [2/2]

ReturnValue Navigation2D_nwc_yarp::gotoTargetByRelativeLocation	(	double	x,
		double	y,
		double	theta
	)

overridevirtual

Ask the robot to reach a position defined in the robot reference frame.

Parameters

x
y
theta

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DTargetActions.

Definition at line 39 of file Navigation2D_nwc_yarp_iNav2DTarget.cpp.

◆ loadLocationsAndExtras()

ReturnValue Navigation2D_nwc_yarp::loadLocationsAndExtras ( std::string file_name )

overridevirtual

Load a collection of locations/areas/paths etc from disk.

Parameters

file_name file name with full path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 290 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ loadMapFromDisk()

ReturnValue Navigation2D_nwc_yarp::loadMapFromDisk ( std::string file_name )

overridevirtual

Load a map from disk.

Parameters

file_name file name with full path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 302 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ loadMapsCollection()

ReturnValue Navigation2D_nwc_yarp::loadMapsCollection ( std::string file_name )

overridevirtual

Load a collection of maps from disk.

Parameters

file_name file name with full path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 278 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ open()

bool Navigation2D_nwc_yarp::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).

Returns: true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 28 of file Navigation2D_nwc_yarp.cpp.

◆ parse_respond_string()

bool Navigation2D_nwc_yarp::parse_respond_string	(	const yarp::os::Bottle &	command,
		yarp::os::Bottle &	reply
	)

◆ read()

bool Navigation2D_nwc_yarp::read ( yarp::os::ConnectionReader & reader )

overridevirtual

Read this object from a network connection.

Override this for your particular class.

Parameters

reader an interface to the network connection for reading

Returns: true iff the object is successfully read

Implements yarp::os::PortReader.

Definition at line 136 of file Navigation2D_nwc_yarp.cpp.

◆ recomputeCurrentNavigationPath()

ReturnValue Navigation2D_nwc_yarp::recomputeCurrentNavigationPath ( )

overridevirtual

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

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 40 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ remove_map()

ReturnValue Navigation2D_nwc_yarp::remove_map ( std::string map_name )

overridevirtual

Removes a map from the map server.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 65 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ renameArea()

ReturnValue Navigation2D_nwc_yarp::renameArea	(	std::string	original_name,
		std::string	new_name
	)

overridevirtual

Searches for an area and renames it.

Parameters

original_name	the name of the area
new_name	the new name of the area

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 230 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ renameLocation()

ReturnValue Navigation2D_nwc_yarp::renameLocation	(	std::string	original_name,
		std::string	new_name
	)

overridevirtual

Searches for a location and renames it.

Parameters

original_name	the name of the area
new_name	the new name of the area

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 212 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ renamePath()

ReturnValue Navigation2D_nwc_yarp::renamePath	(	std::string	original_name,
		std::string	new_name
	)

overridevirtual

Searches for a path and renames it.

Parameters

original_name	the name of the path
new_name	the new name of the path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 236 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ resumeNavigation()

ReturnValue Navigation2D_nwc_yarp::resumeNavigation ( )

overridevirtual

Resume a previously suspended navigation task.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 58 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ saveLocationsAndExtras()

ReturnValue Navigation2D_nwc_yarp::saveLocationsAndExtras ( std::string file_name )

overridevirtual

Save a collection of locations/area/paths etc to disk.

Parameters

file_name file name with full path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 284 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ saveMapsCollection()

ReturnValue Navigation2D_nwc_yarp::saveMapsCollection ( std::string file_name )

overridevirtual

Save a collection of maps to disk.

Parameters

file_name file name with full path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 272 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ saveMapToDisk()

ReturnValue Navigation2D_nwc_yarp::saveMapToDisk	(	std::string	map_name,
		std::string	file_name
	)

overridevirtual

Save a map to disk.

Parameters

map_name	the name of the area
file_name	file name with full path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 296 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ setInitialPose() [1/2]

ReturnValue Navigation2D_nwc_yarp::setInitialPose ( const yarp::dev::Nav2D::Map2DLocation & loc )

overridevirtual

Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

Parameters

loc	the location of the robot

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 27 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ setInitialPose() [2/2]

ReturnValue Navigation2D_nwc_yarp::setInitialPose	(	const yarp::dev::Nav2D::Map2DLocation &	loc,
		const yarp::sig::Matrix &	cov
	)

overridevirtual

Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame.

Parameters

loc	the location of the robot
cov	the 3x3 covariance matrix

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 33 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ startLocalizationService()

ReturnValue Navigation2D_nwc_yarp::startLocalizationService ( )

overridevirtual

Starts the localization service.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 111 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ stopLocalizationService()

ReturnValue Navigation2D_nwc_yarp::stopLocalizationService ( )

overridevirtual

Stops the localization service.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::ILocalization2D.

Definition at line 117 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ stopNavigation()

ReturnValue Navigation2D_nwc_yarp::stopNavigation ( )

overridevirtual

Terminates the current navigation task.

Cannot be resumed.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 52 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ store_map()

ReturnValue Navigation2D_nwc_yarp::store_map ( const yarp::dev::Nav2D::MapGrid2D & map )

overridevirtual

Stores a map into the map server.

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 27 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ storeArea()

ReturnValue Navigation2D_nwc_yarp::storeArea	(	std::string	area_name,
		yarp::dev::Nav2D::Map2DArea	area
	)

overridevirtual

Store an area.

Parameters

area_name	the name of the area
area	the area

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 77 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ storeCurrentPosition()

ReturnValue Navigation2D_nwc_yarp::storeCurrentPosition ( std::string location_name )

overridevirtual

Store the current location of the robot.

Parameters

location_name the name of the location

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::INavigation2DExtraActions.

Definition at line 316 of file Navigation2D_nwc_yarp.cpp.

◆ storeLocation()

ReturnValue Navigation2D_nwc_yarp::storeLocation	(	std::string	location_name,
		yarp::dev::Nav2D::Map2DLocation	loc
	)

overridevirtual

Store a location specified by the user in the world reference frame.

Parameters

location_name	the name of the location
loc	the location of the robot

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 71 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ storePath()

ReturnValue Navigation2D_nwc_yarp::storePath	(	std::string	path_name,
		yarp::dev::Nav2D::Map2DPath	path
	)

overridevirtual

Store a path.

Parameters

path_name	the name of the path
path	the path

Returns: a ReturnValue, convertible to true/false

Implements yarp::dev::Nav2D::IMap2D.

Definition at line 83 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ suspendNavigation()

ReturnValue Navigation2D_nwc_yarp::suspendNavigation ( const double time_s )

overridevirtual

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

Implements yarp::dev::Nav2D::INavigation2DControlActions.

Definition at line 46 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

Member Data Documentation

◆ m_loc_RPC

ILocalization2DMsgs Navigation2D_nwc_yarp::m_loc_RPC

protected

Definition at line 47 of file Navigation2D_nwc_yarp.h.

◆ m_map_RPC

IMap2DMsgs Navigation2D_nwc_yarp::m_map_RPC

protected

Definition at line 46 of file Navigation2D_nwc_yarp.h.

◆ m_mutex

std::mutex Navigation2D_nwc_yarp::m_mutex

protected

Definition at line 51 of file Navigation2D_nwc_yarp.h.

◆ m_nav_RPC

INavigation2DMsgs Navigation2D_nwc_yarp::m_nav_RPC

protected

Definition at line 48 of file Navigation2D_nwc_yarp.h.

◆ m_rpc_port_to_localization_server

yarp::os::Port Navigation2D_nwc_yarp::m_rpc_port_to_localization_server

protected

Definition at line 54 of file Navigation2D_nwc_yarp.h.

◆ m_rpc_port_to_Map2DServer

yarp::os::Port Navigation2D_nwc_yarp::m_rpc_port_to_Map2DServer

protected

Definition at line 53 of file Navigation2D_nwc_yarp.h.

◆ m_rpc_port_to_navigation_server

yarp::os::Port Navigation2D_nwc_yarp::m_rpc_port_to_navigation_server

protected

Definition at line 52 of file Navigation2D_nwc_yarp.h.

◆ m_rpc_port_user_commands

yarp::os::Port Navigation2D_nwc_yarp::m_rpc_port_user_commands

protected

Definition at line 55 of file Navigation2D_nwc_yarp.h.

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

src/devices/networkWrappers/navigation2D_nwc_yarp/Navigation2D_nwc_yarp.h
src/devices/networkWrappers/navigation2D_nwc_yarp/Navigation2D_nwc_yarp.cpp
src/devices/networkWrappers/navigation2D_nwc_yarp/Navigation2D_nwc_yarp_iLocalization2D.cpp
src/devices/networkWrappers/navigation2D_nwc_yarp/Navigation2D_nwc_yarp_iMap2D.cpp
src/devices/networkWrappers/navigation2D_nwc_yarp/Navigation2D_nwc_yarp_iNav2DCtrl.cpp
src/devices/networkWrappers/navigation2D_nwc_yarp/Navigation2D_nwc_yarp_iNav2DTarget.cpp
src/devices/networkWrappers/navigation2D_nwc_yarp/Navigation2D_nwc_yarp_iVelActs.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Navigation2D_nwc_yarp

Member Function Documentation

◆ applyVelocityCommand()

◆ checkInsideArea() [1/2]

◆ checkInsideArea() [2/2]

◆ checkNearToLocation() [1/2]

◆ checkNearToLocation() [2/2]

◆ clearAllAreas()

◆ clearAllLocations()

◆ clearAllMaps()

◆ clearAllMapsTemporaryFlags()

◆ clearAllPaths()

◆ clearMapTemporaryFlags()

◆ close()

◆ deleteArea()

◆ deleteLocation()

◆ deletePath()

◆ enableMapsCompression()

◆ followPath()

◆ get_map()

◆ get_map_names()

◆ getAbsoluteLocationOfCurrentTarget()

◆ getAllAreas()

◆ getAllLocations()

◆ getAllNavigationWaypoints()

◆ getAllPaths()

◆ getArea()

◆ getAreasList()

◆ getCurrentNavigationMap()

◆ getCurrentNavigationWaypoint()

◆ getCurrentPosition() [1/2]

◆ getCurrentPosition() [2/2]

◆ getEstimatedOdometry()

◆ getEstimatedPoses()

◆ getLastVelocityCommand()

◆ getLocalizationStatus()

◆ getLocation()

◆ getLocationsList()

◆ getNameOfCurrentTarget()

◆ getNavigationStatus()

◆ getPath()

◆ getPathsList()

◆ getRelativeLocationOfCurrentTarget()

◆ gotoTargetByAbsoluteLocation()

◆ gotoTargetByLocationName()

◆ gotoTargetByRelativeLocation() [1/2]

◆ gotoTargetByRelativeLocation() [2/2]

◆ loadLocationsAndExtras()

◆ loadMapFromDisk()

◆ loadMapsCollection()

◆ open()

◆ parse_respond_string()

◆ read()

◆ recomputeCurrentNavigationPath()

◆ remove_map()

◆ renameArea()

◆ renameLocation()

◆ renamePath()

◆ resumeNavigation()

◆ saveLocationsAndExtras()

◆ saveMapsCollection()

◆ saveMapToDisk()

◆ setInitialPose() [1/2]

◆ setInitialPose() [2/2]

◆ startLocalizationService()

◆ stopLocalizationService()

◆ stopNavigation()

◆ store_map()

◆ storeArea()

◆ storeCurrentPosition()

◆ storeLocation()

◆ storePath()

◆ suspendNavigation()

Member Data Documentation

◆ m_loc_RPC

◆ m_map_RPC