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Commit 70946a9a authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Updated doc. Fixed typo

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include/iri_nav_module/teb_lp_module.h
+ 18
− 18
View file @ 70946a9a
......@@ -20,7 +20,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
CTEBLPModule(const std::string &name,const std::string &name_space=std::string(""));
/**
* \brief Function to set the parameter
* \brief Function to set the parameter xy_goal_tolerance.
*
* \param value The value to set.
*
......@@ -29,7 +29,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
dyn_reconf_status_t set_xy_goal_tolerance(double &value);
/**
* \brief Function to get the parameter
* \brief Function to get the parameter xy_goal_tolerance.
*
* \param value The parameter value.
*
......@@ -38,7 +38,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
dyn_reconf_status_t get_xy_goal_tolerance(double &value);
/**
* \brief Function to set the parameter
* \brief Function to set the parameter yaw_goal_tolerance
*
* \param value The value to set.
*
......@@ -47,7 +47,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
dyn_reconf_status_t set_yaw_goal_tolerance(double &value);
/**
* \brief Function to get the parameter
* \brief Function to get the parameter yaw_goal_tolerance
*
* \param value The parameter value.
*
......@@ -78,7 +78,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
dyn_reconf_status_t set_goal_tolerances(double &xy_tol, double &yaw_tol);
/**
* \brief Function to set the parameter
* \brief Function to set the parameter max_vel_x
*
* \param value The value to set.
*
......@@ -87,7 +87,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
dyn_reconf_status_t set_max_vel_x(double &value);
/**
* \brief Function to get the parameter
* \brief Function to get the parameter max_vel_x
*
* \param value The parameter value.
*
......@@ -96,25 +96,25 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
dyn_reconf_status_t get_max_vel_x(double &value);
/**
* \brief Function to set the parameter
* \brief Function to set the parameter max_vel_x_backwards.
*
* \param value The value to set.
*
* \return The status of the operation.
*/
dyn_reconf_status_t set_mav_vel_x_backwards(double &value);
dyn_reconf_status_t set_max_vel_x_backwards(double &value);
/**
* \brief Function to get the parameter
* \brief Function to get the parameter max_vel_x_backwards.
*
* \param value The parameter value.
*
* \return The status of the operation.
*/
dyn_reconf_status_t get_mav_vel_x_backwards(double &value);
dyn_reconf_status_t get_max_vel_x_backwards(double &value);
/**
* \brief Function to set the parameter
* \brief Function to set the parameter max_vel_theta.
*
* \param value The value to set.
*
......@@ -123,7 +123,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
dyn_reconf_status_t set_max_vel_theta(double &value);
/**
* \brief Function to get the parameter
* \brief Function to get the parameter max_vel_theta.
*
* \param value The parameter value.
*
......@@ -132,7 +132,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
dyn_reconf_status_t get_max_vel_theta(double &value);
/**
* \brief Function to set the parameter
* \brief Function to set the parameter acc_lim_x.
*
* \param value The value to set.
*
......@@ -141,7 +141,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
dyn_reconf_status_t set_acc_lim_x(double &value);
/**
* \brief Function to get the parameter
* \brief Function to get the parameter acc_lim_x.
*
* \param value The parameter value.
*
......@@ -150,7 +150,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
dyn_reconf_status_t get_acc_lim_x(double &value);
/**
* \brief Function to set the parameter
* \brief Function to set the parameter acc_lim_theta.
*
* \param value The value to set.
*
......@@ -159,7 +159,7 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
dyn_reconf_status_t set_acc_lim_theta(double &value);
/**
* \brief Function to get the parameter
* \brief Function to get the parameter acc_lim_theta.
*
* \param value The parameter value.
*
......@@ -257,14 +257,14 @@ class CTEBLPModule : public CNavPlannerModule<ModuleCfg>
}
template <class ModuleCfg>
dyn_reconf_status_t CTEBLPModule<ModuleCfg>::set_mav_vel_x_backwards(double &value)
dyn_reconf_status_t CTEBLPModule<ModuleCfg>::set_max_vel_x_backwards(double &value)
{
this->planner_reconf.set_parameter("mav_vel_x_backwards",value);
return this->planner_reconf.get_status();
}
template <class ModuleCfg>
dyn_reconf_status_t CTEBLPModule<ModuleCfg>::get_mav_vel_x_backwards(double &value)
dyn_reconf_status_t CTEBLPModule<ModuleCfg>::get_max_vel_x_backwards(double &value)
{
if(this->planner_reconf.get_parameter("mav_vel_x_backwards",value))
return DYN_RECONF_SUCCESSFULL;
......
include/iri_nav_module/teb_lp_module_bt.h
+ 11
− 11
View file @ 70946a9a
......@@ -52,8 +52,8 @@ class CTEBLPModuleBT
BT::NodeStatus get_yaw_goal_tolerance(BT::TreeNode& self);
BT::NodeStatus set_max_vel_x(BT::TreeNode& self);
BT::NodeStatus get_max_vel_x(BT::TreeNode& self);
BT::NodeStatus set_mav_vel_x_backwards(BT::TreeNode& self);
BT::NodeStatus get_mav_vel_x_backwards(BT::TreeNode& self);
BT::NodeStatus set_max_vel_x_backwards(BT::TreeNode& self);
BT::NodeStatus get_max_vel_x_backwards(BT::TreeNode& self);
BT::NodeStatus set_max_vel_theta(BT::TreeNode& self);
BT::NodeStatus get_max_vel_theta(BT::TreeNode& self);
};
......@@ -94,8 +94,8 @@ class CTEBLPModuleBT
factory.registerSimpleAction(this->name+"_teb_get_yaw_goal_tolerance", std::bind(&CTEBLPModuleBT::get_yaw_goal_tolerance, this, std::placeholders::_1), get_yaw_goal_tol_ports);
factory.registerSimpleAction(this->name+"_teb_set_max_vel_x", std::bind(&CTEBLPModuleBT::set_max_vel_x, this, std::placeholders::_1), set_max_vel_x_ports);
factory.registerSimpleAction(this->name+"_teb_get_max_vel_x", std::bind(&CTEBLPModuleBT::get_max_vel_x, this, std::placeholders::_1), get_max_vel_x_ports);
factory.registerSimpleAction(this->name+"_teb_set_mav_vel_x_backwards", std::bind(&CTEBLPModuleBT::set_mav_vel_x_backwards, this, std::placeholders::_1), set_max_vel_x_back_ports);
factory.registerSimpleAction(this->name+"_teb_get_mav_vel_x_backwards", std::bind(&CTEBLPModuleBT::get_mav_vel_x_backwards, this, std::placeholders::_1), get_max_vel_x_back_ports);
factory.registerSimpleAction(this->name+"_teb_set_max_vel_x_backwards", std::bind(&CTEBLPModuleBT::set_max_vel_x_backwards, this, std::placeholders::_1), set_max_vel_x_back_ports);
factory.registerSimpleAction(this->name+"_teb_get_max_vel_x_backwards", std::bind(&CTEBLPModuleBT::get_max_vel_x_backwards, this, std::placeholders::_1), get_max_vel_x_back_ports);
factory.registerSimpleAction(this->name+"_teb_set_max_vel_theta", std::bind(&CTEBLPModuleBT::set_max_vel_theta, this, std::placeholders::_1), set_max_vel_theta_ports);
factory.registerSimpleAction(this->name+"_teb_get_max_vel_theta", std::bind(&CTEBLPModuleBT::get_max_vel_theta, this, std::placeholders::_1), get_max_vel_theta_ports);
......@@ -256,30 +256,30 @@ class CTEBLPModuleBT
}
template <class ModuleCfg>
BT::NodeStatus CTEBLPModuleBT<ModuleCfg>::set_mav_vel_x_backwards(BT::TreeNode& self)
BT::NodeStatus CTEBLPModuleBT<ModuleCfg>::set_max_vel_x_backwards(BT::TreeNode& self)
{
ROS_DEBUG("CTEBLPModuleBT::set_mav_vel_x_backwards-> set_mav_vel_x_backwards");
ROS_DEBUG("CTEBLPModuleBT::set_max_vel_x_backwards-> set_max_vel_x_backwards");
BT::Optional<double> bt_vel = self.getInput<double>("max_vel_x_back");
if (!bt_vel)
{
ROS_ERROR("CTEBLPModuleBT::set_mav_vel_x_backwards-> Incorrect or missing input. It needs the following input ports: max_vel_x_back(double)");
ROS_ERROR("CTEBLPModuleBT::set_max_vel_x_backwards-> Incorrect or missing input. It needs the following input ports: max_vel_x_back(double)");
return BT::NodeStatus::FAILURE;
}
double vel=bt_vel.value();
if(this->module.set_mav_vel_x_backwards(vel)==DYN_RECONF_SUCCESSFULL)
if(this->module.set_max_vel_x_backwards(vel)==DYN_RECONF_SUCCESSFULL)
return BT::NodeStatus::SUCCESS;
else
return BT::NodeStatus::FAILURE;
}
template <class ModuleCfg>
BT::NodeStatus CTEBLPModuleBT<ModuleCfg>::get_mav_vel_x_backwards(BT::TreeNode& self)
BT::NodeStatus CTEBLPModuleBT<ModuleCfg>::get_max_vel_x_backwards(BT::TreeNode& self)
{
ROS_DEBUG("CTEBLPModuleBT::get_mav_vel_x_backwards-> get_mav_vel_x_backwards");
ROS_DEBUG("CTEBLPModuleBT::get_max_vel_x_backwards-> get_max_vel_x_backwards");
double vel;
if(this->module.get_mav_vel_x_backwards(vel)==DYN_RECONF_SUCCESSFULL)
if(this->module.get_max_vel_x_backwards(vel)==DYN_RECONF_SUCCESSFULL)
{
self.setOutput("max_vel_x_back", vel);
return BT::NodeStatus::SUCCESS;
......
src/xml/bt_definitions.xml
+ 2
− 2
View file @ 70946a9a
......@@ -147,10 +147,10 @@
<Action ID="nav_module_teb_get_max_vel_x">
<output_port name="max_vel_x"> Local planner max vel x</output_port>
</Action>
<Action ID="nav_module_teb_set_mav_vel_x_backwards">
<Action ID="nav_module_teb_set_max_vel_x_backwards">
<input_port name="max_vel_x_back"> Local planner max vel x backwards</input_port>
</Action>
<Action ID="nav_module_teb_get_mav_vel_x_backwards">
<Action ID="nav_module_teb_get_max_vel_x_backwards">
<output_port name="max_vel_x_back"> Local planner max vel x backwards</output_port>
</Action>
<Action ID="nav_module_teb_set_max_vel_theta">
......
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