navigation2DClient: 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 <navigation2DClient/Navigation2DClient.h>

Inheritance diagram for Navigation2DClient:

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...

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

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

virtual 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...

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

bool	recomputeCurrentNavigationPath () override
	Forces the navigation system to recompute the path from the current robot position to the current goal. 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	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	storeCurrentPosition (std::string location_name) override
	Store the current location of the robot. 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	getLocation (std::string location_name, yarp::dev::Nav2D::Map2DLocation &loc) override
	Retrieves a location previously stored by the user. More...

bool	getArea (std::string area_name, yarp::dev::Nav2D::Map2DArea &area) override
	Retrieves an area previously stored by the user. More...

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

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

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

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

Public Member Functions inherited from yarp::dev::DeviceDriver
	~DeviceDriver () override=default
	Destructor. 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	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...

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

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

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

virtual Type	getReadType () const

Protected Attributes
std::mutex	m_mutex

yarp::os::Port	m_rpc_port_navigation_server

yarp::os::Port	m_rpc_port_map_locations_server

yarp::os::Port	m_rpc_port_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

navigation2DClient: A device which allows a client application to perform navigation tasks, such as commanding the robot to reach a specific location in a map.

Navigation2DClient

Parameters required by this device are:

Parameter name	SubParameter	Type	Units	Default Value	Required	Description
local	-	string	-	-	Yes	Full port name opened by the Navigation2DClient device.
navigation_server	-	string	-	-	Yes	Full port name of the port remotely opened by the Navigation server, to which the Navigation2DClient connects to.
map_locations_server	-	string	-	-	Yes	Full port name of the port remotely opened by the Map2DServer, to which the Navigation2DClient connects to.
localization_server	-	string	-	-	Yes	Full port name of the port remotely opened by the Localization server, to which the Navigation2DClient connects to.

Definition at line 52 of file Navigation2DClient.h.

Member Function Documentation

◆ applyVelocityCommand()

bool Navigation2DClient::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::INavigation2DTargetActions.

Definition at line 1496 of file Navigation2DClient.cpp.

◆ checkInsideArea() [1/2]

bool Navigation2DClient::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::INavigation2D.

Definition at line 635 of file Navigation2DClient.cpp.

◆ checkInsideArea() [2/2]

bool Navigation2DClient::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::INavigation2D.

Definition at line 617 of file Navigation2DClient.cpp.

◆ checkNearToLocation() [1/2]

bool Navigation2DClient::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::INavigation2D.

Definition at line 598 of file Navigation2DClient.cpp.

◆ checkNearToLocation() [2/2]

bool Navigation2DClient::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::INavigation2D.

Definition at line 586 of file Navigation2DClient.cpp.

◆ clearAllLocations()

bool Navigation2DClient::clearAllLocations ( )

overridevirtual

Delete all stored locations.

Returns: true/false

Implements yarp::dev::Nav2D::INavigation2D.

Definition at line 1259 of file Navigation2DClient.cpp.

◆ close()

bool Navigation2DClient::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 180 of file Navigation2DClient.cpp.

◆ deleteLocation()

bool Navigation2DClient::deleteLocation ( std::string location_name )

overridevirtual

Delete a location.

Parameters

location_name the name of the location

Returns: true/false

Implements yarp::dev::Nav2D::INavigation2D.

Definition at line 1232 of file Navigation2DClient.cpp.

◆ getAbsoluteLocationOfCurrentTarget()

bool Navigation2DClient::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 947 of file Navigation2DClient.cpp.

◆ getAllNavigationWaypoints()

bool Navigation2DClient::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 1335 of file Navigation2DClient.cpp.

◆ getArea()

bool Navigation2DClient::getArea	(	std::string	area_name,
		yarp::dev::Nav2D::Map2DArea &	area
	)

overridevirtual

Retrieves an area previously stored by the user.

Parameters

area_name	the name of the area
area	the area on the map

Returns: true/false

Implements yarp::dev::Nav2D::INavigation2D.

Definition at line 1193 of file Navigation2DClient.cpp.

◆ getCurrentNavigationMap()

bool Navigation2DClient::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 1427 of file Navigation2DClient.cpp.

◆ getCurrentNavigationWaypoint()

bool Navigation2DClient::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 1385 of file Navigation2DClient.cpp.

◆ getCurrentPosition() [1/2]

bool Navigation2DClient::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 888 of file Navigation2DClient.cpp.

◆ getCurrentPosition() [2/2]

bool Navigation2DClient::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 841 of file Navigation2DClient.cpp.

◆ getEstimatedOdometry()

bool Navigation2DClient::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 882 of file Navigation2DClient.cpp.

◆ getEstimatedPoses()

bool Navigation2DClient::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 1527 of file Navigation2DClient.cpp.

◆ getLocalizationStatus()

bool Navigation2DClient::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 1466 of file Navigation2DClient.cpp.

◆ getLocation()

bool Navigation2DClient::getLocation	(	std::string	location_name,
		yarp::dev::Nav2D::Map2DLocation &	loc
	)

overridevirtual

Retrieves a location previously stored by the user.

Parameters

location_name	the name of the location
loc	the location on the map

Returns: true/false

Implements yarp::dev::Nav2D::INavigation2D.

Definition at line 1159 of file Navigation2DClient.cpp.

◆ getLocationsList()

bool Navigation2DClient::getLocationsList ( std::vector< std::string > & locations )

overridevirtual

Get a list of all stored locations.

Parameters

the	returned list of locations

Returns: true/false

Implements yarp::dev::Nav2D::INavigation2D.

Definition at line 1115 of file Navigation2DClient.cpp.

◆ getNameOfCurrentTarget()

bool Navigation2DClient::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::INavigation2D.

Definition at line 980 of file Navigation2DClient.cpp.

◆ getNavigationStatus()

bool Navigation2DClient::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 526 of file Navigation2DClient.cpp.

◆ getRelativeLocationOfCurrentTarget()

bool Navigation2DClient::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 994 of file Navigation2DClient.cpp.

◆ gotoTargetByAbsoluteLocation()

bool Navigation2DClient::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 556 of file Navigation2DClient.cpp.

◆ gotoTargetByLocationName()

bool Navigation2DClient::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::INavigation2D.

Definition at line 660 of file Navigation2DClient.cpp.

◆ gotoTargetByRelativeLocation() [1/2]

bool Navigation2DClient::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 692 of file Navigation2DClient.cpp.

◆ gotoTargetByRelativeLocation() [2/2]

bool Navigation2DClient::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 721 of file Navigation2DClient.cpp.

◆ open()

bool Navigation2DClient::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 62 of file Navigation2DClient.cpp.

◆ parse_respond_string()

bool Navigation2DClient::parse_respond_string	(	const yarp::os::Bottle &	command,
		yarp::os::Bottle &	reply
	)

Definition at line 189 of file Navigation2DClient.cpp.

◆ read()

bool Navigation2DClient::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 500 of file Navigation2DClient.cpp.

◆ recomputeCurrentNavigationPath()

bool Navigation2DClient::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 751 of file Navigation2DClient.cpp.

◆ resumeNavigation()

bool Navigation2DClient::resumeNavigation ( )

overridevirtual

Resume a previously suspended navigation task.

Returns: true/false

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

Definition at line 1310 of file Navigation2DClient.cpp.

◆ setInitialPose() [1/2]

bool Navigation2DClient::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 776 of file Navigation2DClient.cpp.

◆ setInitialPose() [2/2]

bool Navigation2DClient::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 805 of file Navigation2DClient.cpp.

◆ startLocalizationService()

bool Navigation2DClient::startLocalizationService ( )

overridevirtual

Starts the localization service.

Returns: true/false

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

Definition at line 1594 of file Navigation2DClient.cpp.

◆ stopLocalizationService()

bool Navigation2DClient::stopLocalizationService ( )

overridevirtual

Stops the localization service.

Returns: true/false

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

Definition at line 1619 of file Navigation2DClient.cpp.

◆ stopNavigation()

bool Navigation2DClient::stopNavigation ( )

overridevirtual

Terminates the current navigation task.

Cannot be resumed.

Returns: true/false

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

Definition at line 1285 of file Navigation2DClient.cpp.

◆ storeCurrentPosition()

bool Navigation2DClient::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::INavigation2D.

Definition at line 1026 of file Navigation2DClient.cpp.

◆ storeLocation()

bool Navigation2DClient::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::INavigation2D.

Definition at line 1084 of file Navigation2DClient.cpp.

◆ suspendNavigation()

bool Navigation2DClient::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 921 of file Navigation2DClient.cpp.

Member Data Documentation

◆ m_local_name

std::string Navigation2DClient::m_local_name

protected

Definition at line 63 of file Navigation2DClient.h.

◆ m_localization_server_name

std::string Navigation2DClient::m_localization_server_name

protected

Definition at line 66 of file Navigation2DClient.h.

◆ m_map_locations_server_name

std::string Navigation2DClient::m_map_locations_server_name

protected

Definition at line 65 of file Navigation2DClient.h.

◆ m_mutex

std::mutex Navigation2DClient::m_mutex

protected

Definition at line 58 of file Navigation2DClient.h.

◆ m_navigation_server_name

std::string Navigation2DClient::m_navigation_server_name

protected

Definition at line 64 of file Navigation2DClient.h.

◆ m_period

int Navigation2DClient::m_period

protected

Definition at line 67 of file Navigation2DClient.h.

◆ m_rpc_port_localization_server

yarp::os::Port Navigation2DClient::m_rpc_port_localization_server

protected

Definition at line 61 of file Navigation2DClient.h.

◆ m_rpc_port_map_locations_server

yarp::os::Port Navigation2DClient::m_rpc_port_map_locations_server

protected

Definition at line 60 of file Navigation2DClient.h.

◆ m_rpc_port_navigation_server

yarp::os::Port Navigation2DClient::m_rpc_port_navigation_server

protected

Definition at line 59 of file Navigation2DClient.h.

◆ m_rpc_port_user_commands

yarp::os::Port Navigation2DClient::m_rpc_port_user_commands

protected

Definition at line 62 of file Navigation2DClient.h.

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

src/devices/navigation2DClient/Navigation2DClient.h
src/devices/navigation2DClient/Navigation2DClient.cpp

Public Member Functions

Protected Attributes

Detailed Description

Navigation2DClient

Member Function Documentation

◆ applyVelocityCommand()

◆ checkInsideArea() [1/2]

◆ checkInsideArea() [2/2]

◆ checkNearToLocation() [1/2]

◆ checkNearToLocation() [2/2]

◆ clearAllLocations()

◆ close()

◆ deleteLocation()

◆ getAbsoluteLocationOfCurrentTarget()

◆ getAllNavigationWaypoints()

◆ getArea()

◆ getCurrentNavigationMap()

◆ getCurrentNavigationWaypoint()

◆ getCurrentPosition() [1/2]

◆ getCurrentPosition() [2/2]

◆ getEstimatedOdometry()

◆ getEstimatedPoses()

◆ getLocalizationStatus()

◆ getLocation()

◆ getLocationsList()

◆ getNameOfCurrentTarget()

◆ getNavigationStatus()

◆ getRelativeLocationOfCurrentTarget()

◆ gotoTargetByAbsoluteLocation()

◆ gotoTargetByLocationName()

◆ gotoTargetByRelativeLocation() [1/2]

◆ gotoTargetByRelativeLocation() [2/2]

◆ open()

◆ parse_respond_string()

◆ read()

◆ recomputeCurrentNavigationPath()

◆ resumeNavigation()

◆ setInitialPose() [1/2]

◆ setInitialPose() [2/2]

◆ startLocalizationService()

◆ stopLocalizationService()

◆ stopNavigation()

◆ storeCurrentPosition()

◆ storeLocation()

◆ suspendNavigation()

Member Data Documentation

◆ m_local_name

◆ m_localization_server_name

◆ m_map_locations_server_name

◆ m_mutex

◆ m_navigation_server_name

◆ m_period

◆ m_rpc_port_localization_server

◆ m_rpc_port_map_locations_server

◆ m_rpc_port_navigation_server

◆ m_rpc_port_user_commands