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Commit ff9dd8ed authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
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Changed FOLLOW to lower cases

parent 2879ffd4
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include/iri_nav_module/follow_lp_module.h
+ 14
− 14
View file @ ff9dd8ed
...@@ -10,14 +10,14 @@ ...@@ -10,14 +10,14 @@
* *
*/ */
template <class ModuleCfg> template <class ModuleCfg>
class CFOLLOWLPModule : public CNavPlannerModule<ModuleCfg> class CFollowLPModule : public CNavPlannerModule<ModuleCfg>
{ {
public: public:
/** /**
* \brief Constructor * \brief Constructor
* *
*/ */
CFOLLOWLPModule(const std::string &name,const std::string &name_space=std::string("")); CFollowLPModule(const std::string &name,const std::string &name_space=std::string(""));
/** /**
* \brief Function to set the parameter update_dist * \brief Function to set the parameter update_dist
...@@ -100,25 +100,25 @@ class CFOLLOWLPModule : public CNavPlannerModule<ModuleCfg> ...@@ -100,25 +100,25 @@ class CFOLLOWLPModule : public CNavPlannerModule<ModuleCfg>
* \brief Destructor * \brief Destructor
* *
*/ */
~CFOLLOWLPModule(); ~CFollowLPModule();
}; };
template<class ModuleCfg> template<class ModuleCfg>
CFOLLOWLPModule<ModuleCfg>::CFOLLOWLPModule(const std::string &name,const std::string &name_space) : CNavPlannerModule<ModuleCfg>(name,name_space) CFollowLPModule<ModuleCfg>::CFollowLPModule(const std::string &name,const std::string &name_space) : CNavPlannerModule<ModuleCfg>(name,name_space)
{ {
} }
/* parameter functions */ /* parameter functions */
template <class ModuleCfg> template <class ModuleCfg>
dyn_reconf_status_t CFOLLOWLPModule<ModuleCfg>::set_update_dist(double &value) dyn_reconf_status_t CFollowLPModule<ModuleCfg>::set_update_dist(double &value)
{ {
this->planner_reconf.set_parameter("update_dist",value); this->planner_reconf.set_parameter("update_dist",value);
return this->planner_reconf.get_status(); return this->planner_reconf.get_status();
} }
template <class ModuleCfg> template <class ModuleCfg>
dyn_reconf_status_t CFOLLOWLPModule<ModuleCfg>::get_update_dist(double &value) dyn_reconf_status_t CFollowLPModule<ModuleCfg>::get_update_dist(double &value)
{ {
if(this->planner_reconf.get_parameter("update_dist",value)) if(this->planner_reconf.get_parameter("update_dist",value))
return DYN_RECONF_SUCCESSFULL; return DYN_RECONF_SUCCESSFULL;
...@@ -127,14 +127,14 @@ class CFOLLOWLPModule : public CNavPlannerModule<ModuleCfg> ...@@ -127,14 +127,14 @@ class CFOLLOWLPModule : public CNavPlannerModule<ModuleCfg>
} }
template <class ModuleCfg> template <class ModuleCfg>
dyn_reconf_status_t CFOLLOWLPModule<ModuleCfg>::set_follow_dist(double &value) dyn_reconf_status_t CFollowLPModule<ModuleCfg>::set_follow_dist(double &value)
{ {
this->planner_reconf.set_parameter("follow_dist",value); this->planner_reconf.set_parameter("follow_dist",value);
return this->planner_reconf.get_status(); return this->planner_reconf.get_status();
} }
template <class ModuleCfg> template <class ModuleCfg>
dyn_reconf_status_t CFOLLOWLPModule<ModuleCfg>::get_follow_dist(double &value) dyn_reconf_status_t CFollowLPModule<ModuleCfg>::get_follow_dist(double &value)
{ {
if(this->planner_reconf.get_parameter("follow_dist",value)) if(this->planner_reconf.get_parameter("follow_dist",value))
return DYN_RECONF_SUCCESSFULL; return DYN_RECONF_SUCCESSFULL;
...@@ -143,14 +143,14 @@ class CFOLLOWLPModule : public CNavPlannerModule<ModuleCfg> ...@@ -143,14 +143,14 @@ class CFOLLOWLPModule : public CNavPlannerModule<ModuleCfg>
} }
template <class ModuleCfg> template <class ModuleCfg>
dyn_reconf_status_t CFOLLOWLPModule<ModuleCfg>::get_follow_restart_dist(double &value) dyn_reconf_status_t CFollowLPModule<ModuleCfg>::get_follow_restart_dist(double &value)
{ {
this->planner_reconf.set_parameter("follow_restart_dist",value); this->planner_reconf.set_parameter("follow_restart_dist",value);
return this->planner_reconf.get_status(); return this->planner_reconf.get_status();
} }
template <class ModuleCfg> template <class ModuleCfg>
dyn_reconf_status_t CFOLLOWLPModule<ModuleCfg>::set_follow_restart_dist(double &value) dyn_reconf_status_t CFollowLPModule<ModuleCfg>::set_follow_restart_dist(double &value)
{ {
if(this->planner_reconf.get_parameter("follow_restart_dist",value)) if(this->planner_reconf.get_parameter("follow_restart_dist",value))
return DYN_RECONF_SUCCESSFULL; return DYN_RECONF_SUCCESSFULL;
...@@ -159,14 +159,14 @@ class CFOLLOWLPModule : public CNavPlannerModule<ModuleCfg> ...@@ -159,14 +159,14 @@ class CFOLLOWLPModule : public CNavPlannerModule<ModuleCfg>
} }
template <class ModuleCfg> template <class ModuleCfg>
dyn_reconf_status_t CFOLLOWLPModule<ModuleCfg>::set_spline_dist_samples(int &value) dyn_reconf_status_t CFollowLPModule<ModuleCfg>::set_spline_dist_samples(int &value)
{ {
this->planner_reconf.set_parameter("dist_samples",value); this->planner_reconf.set_parameter("dist_samples",value);
return this->planner_reconf.get_status(); return this->planner_reconf.get_status();
} }
template <class ModuleCfg> template <class ModuleCfg>
dyn_reconf_status_t CFOLLOWLPModule<ModuleCfg>::get_spline_dist_samples(int &value) dyn_reconf_status_t CFollowLPModule<ModuleCfg>::get_spline_dist_samples(int &value)
{ {
if(this->planner_reconf.get_parameter("dist_samples",value)) if(this->planner_reconf.get_parameter("dist_samples",value))
return DYN_RECONF_SUCCESSFULL; return DYN_RECONF_SUCCESSFULL;
...@@ -175,12 +175,12 @@ class CFOLLOWLPModule : public CNavPlannerModule<ModuleCfg> ...@@ -175,12 +175,12 @@ class CFOLLOWLPModule : public CNavPlannerModule<ModuleCfg>
} }
template<class ModuleCfg> template<class ModuleCfg>
void CFOLLOWLPModule<ModuleCfg>::dynamic_reconfigure(ModuleCfg &config, const std::string &name) void CFollowLPModule<ModuleCfg>::dynamic_reconfigure(ModuleCfg &config, const std::string &name)
{ {
} }
template<class ModuleCfg> template<class ModuleCfg>
CFOLLOWLPModule<ModuleCfg>::~CFOLLOWLPModule() CFollowLPModule<ModuleCfg>::~CFollowLPModule()
{ {
} }
......
include/iri_nav_module/follow_lp_module_bt.h
+ 35
− 35
View file @ ff9dd8ed
...@@ -7,11 +7,11 @@ ...@@ -7,11 +7,11 @@
#include <iri_nav_module/follow_lp_module.h> #include <iri_nav_module/follow_lp_module.h>
template <class ModuleCfg> template <class ModuleCfg>
class CFOLLOWLPModuleBT class CFollowLPModuleBT
{ {
private: private:
// object of nav_module // object of nav_module
CFOLLOWLPModule<ModuleCfg> &module; CFollowLPModule<ModuleCfg> &module;
std::string name; std::string name;
public: public:
...@@ -19,7 +19,7 @@ class CFOLLOWLPModuleBT ...@@ -19,7 +19,7 @@ class CFOLLOWLPModuleBT
* \brief Constructor * \brief Constructor
* *
*/ */
CFOLLOWLPModuleBT(CFOLLOWLPModule<ModuleCfg> &module,const std::string &name); CFollowLPModuleBT(CFollowLPModule<ModuleCfg> &module,const std::string &name);
/** /**
* \brief Register all conditions and actions needed for using the module * \brief Register all conditions and actions needed for using the module
...@@ -39,7 +39,7 @@ class CFOLLOWLPModuleBT ...@@ -39,7 +39,7 @@ class CFOLLOWLPModuleBT
* This destructor frees all necessary dynamic memory allocated within this * This destructor frees all necessary dynamic memory allocated within this
* this class. * this class.
*/ */
~CFOLLOWLPModuleBT(); ~CFollowLPModuleBT();
protected: protected:
// conditions // conditions
...@@ -55,7 +55,7 @@ class CFOLLOWLPModuleBT ...@@ -55,7 +55,7 @@ class CFOLLOWLPModuleBT
}; };
template <class ModuleCfg> template <class ModuleCfg>
CFOLLOWLPModuleBT<ModuleCfg>::CFOLLOWLPModuleBT(CFOLLOWLPModule<ModuleCfg> &module,const std::string &name) : CFollowLPModuleBT<ModuleCfg>::CFollowLPModuleBT(CFollowLPModule<ModuleCfg> &module,const std::string &name) :
module(module) module(module)
{ {
std::size_t found = name.find_last_of("/\\"); std::size_t found = name.find_last_of("/\\");
...@@ -63,7 +63,7 @@ class CFOLLOWLPModuleBT ...@@ -63,7 +63,7 @@ class CFOLLOWLPModuleBT
} }
template <class ModuleCfg> template <class ModuleCfg>
void CFOLLOWLPModuleBT<ModuleCfg>::init(IriBehaviorTreeFactory &factory) void CFollowLPModuleBT<ModuleCfg>::init(IriBehaviorTreeFactory &factory)
{ {
BT::PortsList set_update_dist_ports = {BT::InputPort<double>("update_dist")}; BT::PortsList set_update_dist_ports = {BT::InputPort<double>("update_dist")};
BT::PortsList get_update_dist_ports = {BT::OutputPort<double>("update_dist")}; BT::PortsList get_update_dist_ports = {BT::OutputPort<double>("update_dist")};
...@@ -78,31 +78,31 @@ class CFOLLOWLPModuleBT ...@@ -78,31 +78,31 @@ class CFOLLOWLPModuleBT
// Registration of conditions // Registration of conditions
//Registration of actions //Registration of actions
factory.registerSimpleAction(this->name+"_follow_set_update_dist", std::bind(&CFOLLOWLPModuleBT::set_update_dist, this, std::placeholders::_1), set_update_dist_ports); factory.registerSimpleAction(this->name+"_follow_set_update_dist", std::bind(&CFollowLPModuleBT::set_update_dist, this, std::placeholders::_1), set_update_dist_ports);
factory.registerSimpleAction(this->name+"_follow_get_update_dist", std::bind(&CFOLLOWLPModuleBT::get_update_dist, this, std::placeholders::_1), get_update_dist_ports); factory.registerSimpleAction(this->name+"_follow_get_update_dist", std::bind(&CFollowLPModuleBT::get_update_dist, this, std::placeholders::_1), get_update_dist_ports);
factory.registerSimpleAction(this->name+"_follow_set_follow_dist", std::bind(&CFOLLOWLPModuleBT::set_follow_dist, this, std::placeholders::_1), set_follow_dist_ports); factory.registerSimpleAction(this->name+"_follow_set_follow_dist", std::bind(&CFollowLPModuleBT::set_follow_dist, this, std::placeholders::_1), set_follow_dist_ports);
factory.registerSimpleAction(this->name+"_follow_get_follow_dist", std::bind(&CFOLLOWLPModuleBT::get_follow_dist, this, std::placeholders::_1), get_follow_dist_ports); factory.registerSimpleAction(this->name+"_follow_get_follow_dist", std::bind(&CFollowLPModuleBT::get_follow_dist, this, std::placeholders::_1), get_follow_dist_ports);
factory.registerSimpleAction(this->name+"_follow_get_follow_restart_dist", std::bind(&CFOLLOWLPModuleBT::get_follow_restart_dist, this, std::placeholders::_1), get_follow_restart_dist_ports); factory.registerSimpleAction(this->name+"_follow_get_follow_restart_dist", std::bind(&CFollowLPModuleBT::get_follow_restart_dist, this, std::placeholders::_1), get_follow_restart_dist_ports);
factory.registerSimpleAction(this->name+"_follow_set_follow_restart_dist", std::bind(&CFOLLOWLPModuleBT::set_follow_restart_dist, this, std::placeholders::_1), set_follow_restart_dist_ports); factory.registerSimpleAction(this->name+"_follow_set_follow_restart_dist", std::bind(&CFollowLPModuleBT::set_follow_restart_dist, this, std::placeholders::_1), set_follow_restart_dist_ports);
factory.registerSimpleAction(this->name+"_follow_set_spline_dist_samples", std::bind(&CFOLLOWLPModuleBT::set_spline_dist_samples, this, std::placeholders::_1), set_spline_dist_samples_ports); factory.registerSimpleAction(this->name+"_follow_set_spline_dist_samples", std::bind(&CFollowLPModuleBT::set_spline_dist_samples, this, std::placeholders::_1), set_spline_dist_samples_ports);
factory.registerSimpleAction(this->name+"_follow_get_spline_dist_samples", std::bind(&CFOLLOWLPModuleBT::get_spline_dist_samples, this, std::placeholders::_1), get_spline_dist_samples_ports); factory.registerSimpleAction(this->name+"_follow_get_spline_dist_samples", std::bind(&CFollowLPModuleBT::get_spline_dist_samples, this, std::placeholders::_1), get_spline_dist_samples_ports);
} }
template <class ModuleCfg> template <class ModuleCfg>
CFOLLOWLPModuleBT<ModuleCfg>::~CFOLLOWLPModuleBT(void) CFollowLPModuleBT<ModuleCfg>::~CFollowLPModuleBT(void)
{ {
// [free dynamic memory] // [free dynamic memory]
} }
template <class ModuleCfg> template <class ModuleCfg>
BT::NodeStatus CFOLLOWLPModuleBT<ModuleCfg>::set_update_dist(BT::TreeNode& self) BT::NodeStatus CFollowLPModuleBT<ModuleCfg>::set_update_dist(BT::TreeNode& self)
{ {
ROS_DEBUG("CFOLLOWLPModuleBT::set_update_dist-> set_update_dist"); ROS_DEBUG("CFollowLPModuleBT::set_update_dist-> set_update_dist");
BT::Optional<double> bt_update_dist = self.getInput<double>("update_dist"); BT::Optional<double> bt_update_dist = self.getInput<double>("update_dist");
if (!bt_update_dist) if (!bt_update_dist)
{ {
ROS_ERROR("CFOLLOWLPModuleBT::set_update_dist-> Incorrect or missing input. It needs the following input ports: update_dist(double)"); ROS_ERROR("CFollowLPModuleBT::set_update_dist-> Incorrect or missing input. It needs the following input ports: update_dist(double)");
return BT::NodeStatus::FAILURE; return BT::NodeStatus::FAILURE;
} }
double xy=bt_update_dist.value(); double xy=bt_update_dist.value();
...@@ -113,9 +113,9 @@ class CFOLLOWLPModuleBT ...@@ -113,9 +113,9 @@ class CFOLLOWLPModuleBT
} }
template <class ModuleCfg> template <class ModuleCfg>
BT::NodeStatus CFOLLOWLPModuleBT<ModuleCfg>::get_update_dist(BT::TreeNode& self) BT::NodeStatus CFollowLPModuleBT<ModuleCfg>::get_update_dist(BT::TreeNode& self)
{ {
ROS_DEBUG("CFOLLOWLPModuleBT::get_update_dist-> get_update_dist"); ROS_DEBUG("CFollowLPModuleBT::get_update_dist-> get_update_dist");
double update_dist; double update_dist;
if(this->module.get_update_dist(update_dist)==DYN_RECONF_SUCCESSFULL) if(this->module.get_update_dist(update_dist)==DYN_RECONF_SUCCESSFULL)
...@@ -131,14 +131,14 @@ class CFOLLOWLPModuleBT ...@@ -131,14 +131,14 @@ class CFOLLOWLPModuleBT
} }
template <class ModuleCfg> template <class ModuleCfg>
BT::NodeStatus CFOLLOWLPModuleBT<ModuleCfg>::set_follow_dist(BT::TreeNode& self) BT::NodeStatus CFollowLPModuleBT<ModuleCfg>::set_follow_dist(BT::TreeNode& self)
{ {
ROS_DEBUG("CFOLLOWLPModuleBT::set_follow_dist-> set_follow_dist"); ROS_DEBUG("CFollowLPModuleBT::set_follow_dist-> set_follow_dist");
BT::Optional<double> bt_follow_dist = self.getInput<double>("follow_dist"); BT::Optional<double> bt_follow_dist = self.getInput<double>("follow_dist");
if (!bt_follow_dist) if (!bt_follow_dist)
{ {
ROS_ERROR("CFOLLOWLPModuleBT::set_follow_dist-> Incorrect or missing input. It needs the following input ports: follow_dist(double)"); ROS_ERROR("CFollowLPModuleBT::set_follow_dist-> Incorrect or missing input. It needs the following input ports: follow_dist(double)");
return BT::NodeStatus::FAILURE; return BT::NodeStatus::FAILURE;
} }
double follow_dist=bt_follow_dist.value(); double follow_dist=bt_follow_dist.value();
...@@ -149,9 +149,9 @@ class CFOLLOWLPModuleBT ...@@ -149,9 +149,9 @@ class CFOLLOWLPModuleBT
} }
template <class ModuleCfg> template <class ModuleCfg>
BT::NodeStatus CFOLLOWLPModuleBT<ModuleCfg>::get_follow_dist(BT::TreeNode& self) BT::NodeStatus CFollowLPModuleBT<ModuleCfg>::get_follow_dist(BT::TreeNode& self)
{ {
ROS_DEBUG("CFOLLOWLPModuleBT::get_follow_dist-> get_follow_dist"); ROS_DEBUG("CFollowLPModuleBT::get_follow_dist-> get_follow_dist");
double follow_dist; double follow_dist;
if(this->module.get_follow_dist(follow_dist)==DYN_RECONF_SUCCESSFULL) if(this->module.get_follow_dist(follow_dist)==DYN_RECONF_SUCCESSFULL)
...@@ -167,14 +167,14 @@ class CFOLLOWLPModuleBT ...@@ -167,14 +167,14 @@ class CFOLLOWLPModuleBT
} }
template <class ModuleCfg> template <class ModuleCfg>
BT::NodeStatus CFOLLOWLPModuleBT<ModuleCfg>::get_follow_restart_dist(BT::TreeNode& self) BT::NodeStatus CFollowLPModuleBT<ModuleCfg>::get_follow_restart_dist(BT::TreeNode& self)
{ {
ROS_DEBUG("CFOLLOWLPModuleBT::get_follow_restart_dist-> get_follow_restart_dist"); ROS_DEBUG("CFollowLPModuleBT::get_follow_restart_dist-> get_follow_restart_dist");
BT::Optional<double> bt_follow_restart_dist = self.getInput<double>("follow_restart_dist"); BT::Optional<double> bt_follow_restart_dist = self.getInput<double>("follow_restart_dist");
if (!bt_follow_restart_dist) if (!bt_follow_restart_dist)
{ {
ROS_ERROR("CFOLLOWLPModuleBT::get_follow_restart_dist-> Incorrect or missing input. It needs the following input ports: follow_restart_dist(double)"); ROS_ERROR("CFollowLPModuleBT::get_follow_restart_dist-> Incorrect or missing input. It needs the following input ports: follow_restart_dist(double)");
return BT::NodeStatus::FAILURE; return BT::NodeStatus::FAILURE;
} }
double follow_restart_dist=bt_follow_restart_dist.value(); double follow_restart_dist=bt_follow_restart_dist.value();
...@@ -185,9 +185,9 @@ class CFOLLOWLPModuleBT ...@@ -185,9 +185,9 @@ class CFOLLOWLPModuleBT
} }
template <class ModuleCfg> template <class ModuleCfg>
BT::NodeStatus CFOLLOWLPModuleBT<ModuleCfg>::set_follow_restart_dist(BT::TreeNode& self) BT::NodeStatus CFollowLPModuleBT<ModuleCfg>::set_follow_restart_dist(BT::TreeNode& self)
{ {
ROS_DEBUG("CFOLLOWLPModuleBT::set_follow_restart_dist-> set_follow_restart_dist"); ROS_DEBUG("CFollowLPModuleBT::set_follow_restart_dist-> set_follow_restart_dist");
double follow_restart_dist; double follow_restart_dist;
if(this->module.set_follow_restart_dist(follow_restart_dist)==DYN_RECONF_SUCCESSFULL) if(this->module.set_follow_restart_dist(follow_restart_dist)==DYN_RECONF_SUCCESSFULL)
...@@ -203,14 +203,14 @@ class CFOLLOWLPModuleBT ...@@ -203,14 +203,14 @@ class CFOLLOWLPModuleBT
} }
template <class ModuleCfg> template <class ModuleCfg>
BT::NodeStatus CFOLLOWLPModuleBT<ModuleCfg>::set_spline_dist_samples(BT::TreeNode& self) BT::NodeStatus CFollowLPModuleBT<ModuleCfg>::set_spline_dist_samples(BT::TreeNode& self)
{ {
ROS_DEBUG("CFOLLOWLPModuleBT::set_spline_dist_samples-> set_spline_dist_samples"); ROS_DEBUG("CFollowLPModuleBT::set_spline_dist_samples-> set_spline_dist_samples");
BT::Optional<int> bt_dist_samples = self.getInput<int>("dist_samples"); BT::Optional<int> bt_dist_samples = self.getInput<int>("dist_samples");
if (!bt_dist_samples) if (!bt_dist_samples)
{ {
ROS_ERROR("CFOLLOWLPModuleBT::set_spline_dist_samples-> Incorrect or missing input. It needs the following input ports: dist_samples(int)"); ROS_ERROR("CFollowLPModuleBT::set_spline_dist_samples-> Incorrect or missing input. It needs the following input ports: dist_samples(int)");
return BT::NodeStatus::FAILURE; return BT::NodeStatus::FAILURE;
} }
int dist_samples=bt_dist_samples.value(); int dist_samples=bt_dist_samples.value();
...@@ -221,9 +221,9 @@ class CFOLLOWLPModuleBT ...@@ -221,9 +221,9 @@ class CFOLLOWLPModuleBT
} }
template <class ModuleCfg> template <class ModuleCfg>
BT::NodeStatus CFOLLOWLPModuleBT<ModuleCfg>::get_spline_dist_samples(BT::TreeNode& self) BT::NodeStatus CFollowLPModuleBT<ModuleCfg>::get_spline_dist_samples(BT::TreeNode& self)
{ {
ROS_DEBUG("CFOLLOWLPModuleBT::get_spline_dist_samples-> get_spline_dist_samples"); ROS_DEBUG("CFollowLPModuleBT::get_spline_dist_samples-> get_spline_dist_samples");
int dist_samples; int dist_samples;
if(this->module.get_spline_dist_samples(dist_samples)==DYN_RECONF_SUCCESSFULL) if(this->module.get_spline_dist_samples(dist_samples)==DYN_RECONF_SUCCESSFULL)
......
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