diff --git a/include/iri_nav_module/teb_lp_module.h b/include/iri_nav_module/teb_lp_module.h index c0b35c239263caefdabb6488e7a47fb2bc6fa439..a0989591a120982cabba4e9bc61015c9ab81f1c4 100644 --- a/include/iri_nav_module/teb_lp_module.h +++ b/include/iri_nav_module/teb_lp_module.h @@ -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; diff --git a/include/iri_nav_module/teb_lp_module_bt.h b/include/iri_nav_module/teb_lp_module_bt.h index fc2b2a009ea5491d51b92e52bd853e9b97d2a295..505edeb1cbe96255e434bb51b29b69f101eb6704 100644 --- a/include/iri_nav_module/teb_lp_module_bt.h +++ b/include/iri_nav_module/teb_lp_module_bt.h @@ -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; diff --git a/src/xml/bt_definitions.xml b/src/xml/bt_definitions.xml index 388c071cb0ee2f12ab02b5b9addd588130b0be92..0eaaf91bd9d47dc30b250902dc7523c01cf9023b 100644 --- a/src/xml/bt_definitions.xml +++ b/src/xml/bt_definitions.xml @@ -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">