nav2_route::OperationsManager Class Reference

Manages operations plugins to call on route tracking. More...

#include <nav2_route/include/nav2_route/operations_manager.hpp>

Public Types
typedef std::vector< RouteOperation::Ptr >::const_iterator	OperationsIter

Public Member Functions
	OperationsManager (nav2::LifecycleNode::SharedPtr node, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber > costmap_subscriber)
	A constructor for nav2_route::OperationsManager.
	~OperationsManager ()=default
	A Destructor for nav2_route::OperationsManager.
OperationPtrs	findGraphOperations (const NodePtr node, const EdgePtr edge_enter, const EdgePtr edge_exit)
	Finds the set of operations stored in the graph to trigger at this transition. More...
template<typename T >
void	findGraphOperationsToProcess (T &obj, const OperationTrigger &trigger, OperationPtrs &operations)
	Finds the set of operations stored in graph objects, by event. More...
void	updateResult (const std::string &name, const OperationResult &op_result, OperationsResult &result)
	Updates manager result state by an individual operation's result. More...
OperationsResult	process (const bool status_change, const RouteTrackingState &state, const Route &route, const geometry_msgs::msg::PoseStamped &pose, const ReroutingState &rerouting_info)
	Processes the operations at this tracker state. More...

Protected Member Functions
void	processOperationsPluginVector (const std::vector< RouteOperation::Ptr > &operations, OperationsResult &result, const NodePtr node, const EdgePtr edge_entered, const EdgePtr edge_exited, const Route &route, const geometry_msgs::msg::PoseStamped &pose)
	Processes a vector of operations plugins, by trigger. More...

Protected Attributes
pluginlib::ClassLoader< RouteOperation >	plugin_loader_
std::unordered_map< std::string, RouteOperation::Ptr >	graph_operations_
std::vector< RouteOperation::Ptr >	change_operations_
std::vector< RouteOperation::Ptr >	query_operations_
rclcpp::Logger	logger_ {rclcpp::get_logger("OperationsManager")}

Detailed Description

Manages operations plugins to call on route tracking.

Definition at line 39 of file operations_manager.hpp.

Member Function Documentation

findGraphOperations()

OperationPtrs nav2_route::OperationsManager::findGraphOperations	(	const NodePtr	node,
		const EdgePtr	edge_enter,
		const EdgePtr	edge_exit
	)

Finds the set of operations stored in the graph to trigger at this transition.

Parameters

node	Node to check
edge_entered	Edge entered to check for ON_ENTER events
edge_exit	Edge exit to check for ON_EXIT events

Returns

OperationPtrs A vector of operation pointers to execute

Definition at line 91 of file operations_manager.cpp.

References findGraphOperationsToProcess().

Referenced by process().

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findGraphOperationsToProcess()

template<typename T >

void nav2_route::OperationsManager::findGraphOperationsToProcess	(	T &	obj,
		const OperationTrigger &	trigger,
		OperationPtrs &	operations
	)

Finds the set of operations stored in graph objects, by event.

Parameters

node	op_vec Operations vector to check
trigger	Trigger for which operations in op_vec should be included
operations	Output vector populated with relevant operations

Definition at line 75 of file operations_manager.cpp.

Referenced by findGraphOperations().

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process()

OperationsResult nav2_route::OperationsManager::process	(	const bool	status_change,
		const RouteTrackingState &	state,
		const Route &	route,
		const geometry_msgs::msg::PoseStamped &	pose,
		const ReroutingState &	rerouting_info
	)

Processes the operations at this tracker state.

Parameters

status_change	Whether something meaningful has changed
state	The route tracking state to check for state info
route	The raw route being tracked
pose	robot pose
rerouting_info	Rerouting information regarding previous partial state

Returns

A result vector whether the operations are requesting something to occur

Definition at line 126 of file operations_manager.cpp.

References findGraphOperations(), processOperationsPluginVector(), and updateResult().

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processOperationsPluginVector()

void nav2_route::OperationsManager::processOperationsPluginVector ( const std::vector< RouteOperation::Ptr > &  operations, OperationsResult &  result, const NodePtr  node, const EdgePtr  edge_entered, const EdgePtr  edge_exited, const Route &  route, const geometry_msgs::msg::PoseStamped &  pose  )

protected

Processes a vector of operations plugins, by trigger.

Parameters

operations	Operations to trigger
Results	to populate from operations

Definition at line 110 of file operations_manager.cpp.

References updateResult().

Referenced by process().

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updateResult()

void nav2_route::OperationsManager::updateResult	(	const std::string &	name,
		const OperationResult &	op_result,
		OperationsResult &	result
	)

Updates manager result state by an individual operation's result.

Parameters

name	Operations' name
op_result	Operations' result
result	Manager's result to update

Definition at line 101 of file operations_manager.cpp.

Referenced by process(), and processOperationsPluginVector().

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

• nav2_route/include/nav2_route/operations_manager.hpp
• nav2_route/src/operations_manager.cpp