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 <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. More...

bool	close () override
	Close the DeviceDriver. More...

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. More...

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

bool	checkInsideArea (std::string area_name) override
	Check if the robot is currently inside the specified area. More...

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

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

bool	storeCurrentPosition (std::string location_name) override
	Store the current location of the robot. More...

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

bool	recomputeCurrentNavigationPath () override
	Forces the navigation system to recompute the path from the current robot position to the current goal. More...

bool	stopNavigation () override
	Terminates the current navigation task. More...

bool	suspendNavigation (const double time_s) override
	Ask to the robot to suspend the current navigation task for a defined amount of time. More...

bool	resumeNavigation () override
	Resume a previously suspended navigation task. More...

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

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

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

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

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

bool	gotoTargetByRelativeLocation (double x, double y, double theta) override
	Ask the robot to reach a position defined in the robot reference frame. More...

bool	gotoTargetByRelativeLocation (double x, double y) override
	Ask the robot to reach a position defined in the robot reference frame. More...

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

bool	getNameOfCurrentTarget (std::string &location_name) override
	Gets the name of the current target, if available (set by gotoTargetByLocationName) More...

bool	getRelativeLocationOfCurrentTarget (double &x, double &y, double &theta) override
	Gets the last navigation target in the robot reference frame. More...

bool	applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1) override
	Apply a velocity command. More...

bool	getLastVelocityCommand (double &x_vel, double &y_vel, double &theta_vel) override
	Returns the last applied velocity command. More...

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

bool	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. More...

bool	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. More...

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

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

bool	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. More...

bool	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. More...

bool	startLocalizationService () override
	Starts the localization service. More...

bool	stopLocalizationService () override
	Stops the localization service. More...

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

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

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

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

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

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

bool	renameLocation (std::string original_name, std::string new_name) override
	Searches for a location and renames it. More...

bool	renameArea (std::string original_name, std::string new_name) override
	Searches for an area and renames it. More...

bool	renamePath (std::string original_name, std::string new_name) override
	Searches for a path and renames it. More...

bool	deleteLocation (std::string location_name) override
	Delete a location. More...

bool	deleteArea (std::string location_name) override
	Delete an area. More...

bool	deletePath (std::string path_name) override
	Delete a path. More...

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

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

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

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

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

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

bool	clearAllLocations () override
	Delete all stored locations. More...

bool	clearAllAreas () override
	Delete all stored areas. More...

bool	clearAllPaths () override
	Delete all stored paths. More...

bool	clearAllMaps () override
	Removes all the registered maps from the server. More...

bool	remove_map (std::string map_name) override
	Removes a map from the map server. More...

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

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

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

bool	clearAllMapsTemporaryFlags () override
	Clear all temporary flags from all stored maps. More...

bool	clearMapTemporaryFlags (std::string map_name) override
	Clear all temporary flags from a specific map. More...

bool	saveMapsCollection (std::string maps_collection_file) override
	Save a collection of maps to disk. More...

bool	loadMapsCollection (std::string maps_collection_file) override
	Load a collection of maps from disk. More...

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

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

bool	saveMapToDisk (std::string map_name, std::string file_name) override
	Save a map to disk. More...

bool	loadMapFromDisk (std::string file_name) override
	Load a map from disk. More...

bool	enableMapsCompression (bool enable) override
	99999999999 More...

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

	~DeviceDriver () override

bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver. More...

bool	close () override
	Close the DeviceDriver. More...

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

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

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

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

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

virtual bool	open (Searchable &config)
	Initialize the object. More...

virtual bool	close ()
	Shut the object down. More...

virtual bool	configure (Searchable &config)
	Change online parameters. More...

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

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

virtual bool	gotoTargetByAbsoluteLocation (yarp::dev::Nav2D::Map2DLocation loc)=0
	Ask the robot to reach a position defined in the world reference frame. More...

virtual bool	getAbsoluteLocationOfCurrentTarget (yarp::dev::Nav2D::Map2DLocation &loc)=0
	Gets the last navigation target in the world reference frame. More...

virtual bool	gotoTargetByRelativeLocation (double x, double y)=0
	Ask the robot to reach a position defined in the robot reference frame. More...

virtual bool	gotoTargetByRelativeLocation (double x, double y, double theta)=0
	Ask the robot to reach a position defined in the robot reference frame. More...

virtual bool	getRelativeLocationOfCurrentTarget (double &x, double &y, double &theta)=0
	Gets the last navigation target in the robot reference frame. More...

Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DControlActions
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...

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

virtual bool	applyVelocityCommand (double x_vel, double y_vel, double theta_vel, double timeout=0.1)=0
	Apply a velocity command. More...

virtual bool	getLastVelocityCommand (double &x_vel, double &y_vel, double &theta_vel)=0
	Returns the last applied velocity command. More...

Public Member Functions inherited from yarp::dev::Nav2D::INavigation2DExtraActions
virtual bool	gotoTargetByLocationName (std::string location_or_area_name)=0
	Ask the robot to reach a previously stored location/area. More...

virtual bool	checkInsideArea (std::string area_name)=0
	Check if the robot is currently inside the specified area. More...

virtual bool	checkInsideArea (Nav2D::Map2DArea area)=0
	Check if the robot is currently inside the specified area. More...

virtual bool	checkNearToLocation (Nav2D::Map2DLocation loc, double linear_tolerance, double angular_tolerance=std::numeric_limits< double >::infinity())=0
	Check if the robot is currently near to the specified area. More...

virtual bool	checkNearToLocation (std::string location_name, double linear_tolerance, double angular_tolerance=std::numeric_limits< double >::infinity())=0
	Check if the robot is currently near to the specified area. More...

virtual bool	getNameOfCurrentTarget (std::string &location_name)=0
	Gets the name of the current target, if available (set by gotoTargetByLocationName) More...

virtual bool	storeCurrentPosition (std::string location_name)=0
	Store the current location of the robot. More...

virtual	~INavigation2DExtraActions ()
	Destructor. More...

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

virtual bool	clearAllMaps ()=0
	Removes all the registered maps from the server. More...

virtual bool	store_map (const yarp::dev::Nav2D::MapGrid2D &map)=0
	Stores a map into the map server. More...

virtual bool	get_map (std::string map_name, yarp::dev::Nav2D::MapGrid2D &map)=0
	Gets a map from the map server. More...

virtual bool	get_map_names (std::vector< std::string > &map_names)=0
	Gets a list containing the names of all registered maps. More...

virtual bool	remove_map (std::string map_name)=0
	Removes a map from the map server. More...

virtual bool	storeLocation (std::string location_name, yarp::dev::Nav2D::Map2DLocation loc)=0
	Store a location specified by the user in the world reference frame. More...

virtual bool	storeArea (std::string area_name, yarp::dev::Nav2D::Map2DArea area)=0
	Store an area. More...

virtual bool	storePath (std::string path_name, yarp::dev::Nav2D::Map2DPath path)=0
	Store a path. More...

virtual bool	getLocation (std::string location_name, yarp::dev::Nav2D::Map2DLocation &loc)=0
	Retrieves a location specified by the user in the world reference frame. More...

virtual bool	getArea (std::string area_name, yarp::dev::Nav2D::Map2DArea &area)=0
	Retrieves an area. More...

virtual bool	getPath (std::string path_name, yarp::dev::Nav2D::Map2DPath &path)=0
	Retrieves a path. More...

virtual bool	getLocationsList (std::vector< std::string > &locations)=0
	Get a list of the names of all stored locations. More...

virtual bool	getAreasList (std::vector< std::string > &areas)=0
	Get a list of the names of all stored areas. More...

virtual bool	getPathsList (std::vector< std::string > &paths)=0
	Get a list of the names of all stored paths. More...

virtual bool	getAllLocations (std::vector< yarp::dev::Nav2D::Map2DLocation > &locations)=0
	Get a list of all stored locations. More...

virtual bool	getAllAreas (std::vector< yarp::dev::Nav2D::Map2DArea > &areas)=0
	Get a list of all stored areas. More...

virtual bool	getAllPaths (std::vector< yarp::dev::Nav2D::Map2DPath > &paths)=0
	Get a list of all stored paths. More...

virtual bool	renameLocation (std::string original_name, std::string new_name)=0
	Searches for a location and renames it. More...

virtual bool	deleteLocation (std::string location_name)=0
	Delete a location. More...

virtual bool	deletePath (std::string path_name)=0
	Delete a path. More...

virtual bool	renameArea (std::string original_name, std::string new_name)=0
	Searches for an area and renames it. More...

virtual bool	renamePath (std::string original_name, std::string new_name)=0
	Searches for a path and renames it. More...

virtual bool	deleteArea (std::string area_name)=0
	Delete an area. More...

virtual bool	clearAllLocations ()=0
	Delete all stored locations. More...

virtual bool	clearAllAreas ()=0
	Delete all stored areas. More...

virtual bool	clearAllPaths ()=0
	Delete all stored paths. More...

virtual bool	clearAllMapsTemporaryFlags ()=0
	Clear all temporary flags from all stored maps. More...

virtual bool	clearMapTemporaryFlags (std::string map_name)=0
	Clear all temporary flags from a specific map. More...

virtual bool	saveMapToDisk (std::string map_name, std::string file_name)=0
	Save a map to disk. More...

virtual bool	loadMapFromDisk (std::string file_name)=0
	Load a map from disk. More...

virtual bool	saveMapsCollection (std::string file_name)=0
	Save a collection of maps to disk. More...

virtual bool	loadMapsCollection (std::string file_name)=0
	Load a collection of maps from disk. More...

virtual bool	saveLocationsAndExtras (std::string file_name)=0
	Save a collection of locations/area/paths etc to disk. More...

virtual bool	loadLocationsAndExtras (std::string file_name)=0
	Load a collection of locations/areas/paths etc from disk. More...

virtual bool	enableMapsCompression (bool enable)=0
	99999999999 More...

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

virtual bool	startLocalizationService ()=0
	Starts the localization service. More...

virtual bool	stopLocalizationService ()=0
	Stops the localization service. More...

virtual bool	getLocalizationStatus (LocalizationStatusEnum &status)=0
	Gets the current status of the localization task. More...

virtual bool	getEstimatedPoses (std::vector< yarp::dev::Nav2D::Map2DLocation > &poses)=0
	Gets a set of pose estimates computed by the localization algorithm. More...

virtual bool	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc)=0
	Gets the current position of the robot w.r.t world reference frame. More...

virtual bool	getCurrentPosition (yarp::dev::Nav2D::Map2DLocation &loc, yarp::sig::Matrix &cov)=0
	Gets the current position of the robot w.r.t world reference frame, plus the covariance. More...

virtual bool	getEstimatedOdometry (yarp::dev::OdometryData &odom)=0
	Gets the estimated odometry the robot, including its velocity expressed in the world and in the local reference frame. More...

virtual bool	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc)=0
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...

virtual bool	setInitialPose (const yarp::dev::Nav2D::Map2DLocation &loc, const yarp::sig::Matrix &cov)=0
	Sets the initial pose for the localization algorithm which estimates the current position of the robot w.r.t world reference frame. More...

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

virtual bool	read (ConnectionReader &reader)=0
	Read this object from a network connection. More...

virtual Type	getReadType () const

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

std::string	m_local_name

std::string	m_navigation_server_name

std::string	m_map_locations_server_name

std::string	m_localization_server_name

int	m_period

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:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description
local	-	string	-	-	Yes	Full port name opened by the Navigation2D_nwc_yarp device.
navigation_server	-	string	-	-	Yes	Full port name of the port remotely opened by the Navigation server, to which the Navigation2D_nwc_yarp connects to.
map_locations_server	-	string	-	-	Yes	Full port name of the port remotely opened by the Map2DServer, to which the Navigation2D_nwc_yarp connects to.
localization_server	-	string	-	-	Yes	Full port name of the port remotely opened by the Localization server, to which the Navigation2D_nwc_yarp connects to.

Definition at line 42 of file Navigation2D_nwc_yarp.h.

Member Function Documentation

◆ applyVelocityCommand()

bool 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: true/false

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

Definition at line 42 of file Navigation2D_nwc_yarp_iVelActs.cpp.

◆ checkInsideArea() [1/2]

bool Navigation2D_nwc_yarp::checkInsideArea ( std::string area_name )

overridevirtual

Check if the robot is currently inside the specified area.

Parameters

area_name the name of an area previously saved

Returns: true/false

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

Definition at line 217 of file Navigation2D_nwc_yarp.cpp.

◆ checkInsideArea() [2/2]

bool Navigation2D_nwc_yarp::checkInsideArea ( yarp::dev::Nav2D::Map2DArea area )

overridevirtual

Check if the robot is currently inside the specified area.

Parameters

area	the area to be checked

Returns: true/false

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

Definition at line 199 of file Navigation2D_nwc_yarp.cpp.

◆ checkNearToLocation() [1/2]

bool Navigation2D_nwc_yarp::checkNearToLocation	(	std::string	location_name,
		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
linear_tolerance	linear tolerance [m]
angular_tolerance	[deg]

Returns: true/false

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

Definition at line 180 of file Navigation2D_nwc_yarp.cpp.

◆ checkNearToLocation() [2/2]

bool Navigation2D_nwc_yarp::checkNearToLocation	(	yarp::dev::Nav2D::Map2DLocation	loc,
		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
linear_tolerance	linear tolerance [m]
angular_tolerance	[deg 0-360]

Returns: true/false

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

Definition at line 168 of file Navigation2D_nwc_yarp.cpp.

◆ clearAllAreas()

bool Navigation2D_nwc_yarp::clearAllAreas ( )

overridevirtual

Delete all stored areas.

Returns: true/false

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

Definition at line 248 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ clearAllLocations()

bool Navigation2D_nwc_yarp::clearAllLocations ( )

overridevirtual

Delete all stored locations.

Returns: true/false

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

Definition at line 242 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ clearAllMaps()

bool Navigation2D_nwc_yarp::clearAllMaps ( )

overridevirtual

Removes all the registered maps from the server.

Returns: true/false

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

Definition at line 46 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ clearAllMapsTemporaryFlags()

bool Navigation2D_nwc_yarp::clearAllMapsTemporaryFlags ( )

overridevirtual

Clear all temporary flags from all stored maps.

Returns: true/false

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

Definition at line 254 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ clearAllPaths()

bool Navigation2D_nwc_yarp::clearAllPaths ( )

overridevirtual

Delete all stored paths.

Returns: true/false

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

Definition at line 266 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ clearMapTemporaryFlags()

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

overridevirtual

Clear all temporary flags from a specific map.

Returns: 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 154 of file Navigation2D_nwc_yarp.cpp.

◆ deleteArea()

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

overridevirtual

Delete an area.

Parameters

area_name the name of the area

Returns: true/false

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

Definition at line 218 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ deleteLocation()

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

overridevirtual

Delete a location.

Parameters

location_name the name of the location

Returns: true/false

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

Definition at line 206 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ deletePath()

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

overridevirtual

Delete a path.

Parameters

path_name the name of the path

Returns: true/false

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

Definition at line 224 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ enableMapsCompression()

bool Navigation2D_nwc_yarp::enableMapsCompression ( bool enable )

overridevirtual

99999999999

Parameters

enable

Returns: true/false

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

Definition at line 308 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ get_map()

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

overridevirtual

Gets a map from the map server.

Returns: true/false

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

Definition at line 33 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ get_map_names()

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

overridevirtual

Gets a list containing the names of all registered maps.

Returns: true/false

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

Definition at line 52 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getAbsoluteLocationOfCurrentTarget()

bool 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: true/false

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

Definition at line 45 of file Navigation2D_nwc_yarp_iNav2DTarget.cpp.

◆ getAllAreas()

bool 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: true/false

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

Definition at line 141 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getAllLocations()

bool 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: true/false

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

Definition at line 128 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getAllNavigationWaypoints()

bool 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: true/false

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

Definition at line 64 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ getAllPaths()

bool 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: true/false

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

Definition at line 154 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getArea()

bool 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: true/false

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

Definition at line 180 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getAreasList()

bool 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: true/false

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

Definition at line 102 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getCurrentNavigationMap()

bool 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: true/false

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

Definition at line 90 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ getCurrentNavigationWaypoint()

bool 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: true/false

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

Definition at line 77 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ getCurrentPosition() [1/2]

bool 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: true/false

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

Definition at line 72 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ getCurrentPosition() [2/2]

bool 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: true/false

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

Definition at line 45 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ getEstimatedOdometry()

bool 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: true/false

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

Definition at line 59 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ getEstimatedPoses()

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

overridevirtual

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

Returns: true/false

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

Definition at line 98 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ getLastVelocityCommand()

bool 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: true/false

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

Definition at line 27 of file Navigation2D_nwc_yarp_iVelActs.cpp.

◆ getLocalizationStatus()

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

overridevirtual

Gets the current status of the localization task.

Returns: true/false

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

Definition at line 85 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ getLocation()

bool 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: true/false

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

Definition at line 167 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getLocationsList()

bool 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: true/false

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

Definition at line 89 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getNameOfCurrentTarget()

bool 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: true/false

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

Definition at line 274 of file Navigation2D_nwc_yarp.cpp.

◆ getNavigationStatus()

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

overridevirtual

Gets the current status of the navigation task.

Returns: true/false

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

Definition at line 27 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ getPath()

bool 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: true/false

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

Definition at line 193 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getPathsList()

bool 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: true/false

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

Definition at line 115 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ getRelativeLocationOfCurrentTarget()

bool 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: true/false

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

Definition at line 58 of file Navigation2D_nwc_yarp_iNav2DTarget.cpp.

◆ gotoTargetByAbsoluteLocation()

bool 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: true/false

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

Definition at line 27 of file Navigation2D_nwc_yarp_iNav2DTarget.cpp.

◆ gotoTargetByLocationName()

bool 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: true/false

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

Definition at line 242 of file Navigation2D_nwc_yarp.cpp.

◆ gotoTargetByRelativeLocation() [1/2]

bool 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: true/false

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

Definition at line 33 of file Navigation2D_nwc_yarp_iNav2DTarget.cpp.

◆ gotoTargetByRelativeLocation() [2/2]

bool 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: true/false

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

Definition at line 39 of file Navigation2D_nwc_yarp_iNav2DTarget.cpp.

◆ loadLocationsAndExtras()

bool 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: true/false

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

Definition at line 290 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ loadMapFromDisk()

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

overridevirtual

Load a map from disk.

Parameters

file_name file name with full path

Returns: true/false

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

Definition at line 302 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ loadMapsCollection()

bool 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: 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 27 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 162 of file Navigation2D_nwc_yarp.cpp.

◆ recomputeCurrentNavigationPath()

bool 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: true/false

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

Definition at line 40 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ remove_map()

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

overridevirtual

Removes a map from the map server.

Returns: true/false

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

Definition at line 65 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ renameArea()

bool 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: true/false

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

Definition at line 230 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ renameLocation()

bool 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: true/false

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

Definition at line 212 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ renamePath()

bool 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: true/false

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

Definition at line 236 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ resumeNavigation()

bool Navigation2D_nwc_yarp::resumeNavigation ( )

overridevirtual

Resume a previously suspended navigation task.

Returns: true/false

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

Definition at line 58 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ saveLocationsAndExtras()

bool 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: true/false

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

Definition at line 284 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ saveMapsCollection()

bool 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: true/false

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

Definition at line 272 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ saveMapToDisk()

bool 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: true/false

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

Definition at line 296 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ setInitialPose() [1/2]

bool 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: true/false

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

Definition at line 27 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ setInitialPose() [2/2]

bool 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: true/false

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

Definition at line 33 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ startLocalizationService()

bool Navigation2D_nwc_yarp::startLocalizationService ( )

overridevirtual

Starts the localization service.

Returns: true/false

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

Definition at line 111 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ stopLocalizationService()

bool Navigation2D_nwc_yarp::stopLocalizationService ( )

overridevirtual

Stops the localization service.

Returns: true/false

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

Definition at line 117 of file Navigation2D_nwc_yarp_iLocalization2D.cpp.

◆ stopNavigation()

bool Navigation2D_nwc_yarp::stopNavigation ( )

overridevirtual

Terminates the current navigation task.

Cannot be resumed.

Returns: true/false

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

Definition at line 52 of file Navigation2D_nwc_yarp_iNav2DCtrl.cpp.

◆ store_map()

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

overridevirtual

Stores a map into the map server.

Returns: true/false

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

Definition at line 27 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ storeArea()

bool 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: true/false

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

Definition at line 77 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ storeCurrentPosition()

bool 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: true/false

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

Definition at line 287 of file Navigation2D_nwc_yarp.cpp.

◆ storeLocation()

bool 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: true/false

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

Definition at line 71 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ storePath()

bool 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: true/false

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

Definition at line 83 of file Navigation2D_nwc_yarp_iMap2D.cpp.

◆ suspendNavigation()

bool 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: 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 50 of file Navigation2D_nwc_yarp.h.

◆ m_local_name

std::string Navigation2D_nwc_yarp::m_local_name

protected

Definition at line 59 of file Navigation2D_nwc_yarp.h.

◆ m_localization_server_name

std::string Navigation2D_nwc_yarp::m_localization_server_name

protected

Definition at line 62 of file Navigation2D_nwc_yarp.h.

◆ m_map_locations_server_name

std::string Navigation2D_nwc_yarp::m_map_locations_server_name

protected

Definition at line 61 of file Navigation2D_nwc_yarp.h.

◆ m_map_RPC

IMap2DMsgs Navigation2D_nwc_yarp::m_map_RPC

protected

Definition at line 49 of file Navigation2D_nwc_yarp.h.

◆ m_mutex

std::mutex Navigation2D_nwc_yarp::m_mutex

protected

Definition at line 54 of file Navigation2D_nwc_yarp.h.

◆ m_nav_RPC

INavigation2DMsgs Navigation2D_nwc_yarp::m_nav_RPC

protected

Definition at line 51 of file Navigation2D_nwc_yarp.h.

◆ m_navigation_server_name

std::string Navigation2D_nwc_yarp::m_navigation_server_name

protected

Definition at line 60 of file Navigation2D_nwc_yarp.h.

◆ m_period

int Navigation2D_nwc_yarp::m_period

protected

Definition at line 63 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 57 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 56 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 55 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 58 of file Navigation2D_nwc_yarp.h.

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

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

Public Member Functions

Protected Attributes

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()

◆ 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_local_name

◆ m_localization_server_name

◆ m_map_locations_server_name