cl_nav2z::Amcl Class Reference

#include <amcl.hpp>

Inheritance diagram for cl_nav2z::Amcl:

Collaboration diagram for cl_nav2z::Amcl:

Public Member Functions
	Amcl ()
virtual	~Amcl ()
std::string	getName () const override
void	onInitialize () override
void	setInitialPose (const geometry_msgs::msg::PoseWithCovarianceStamped &initialpose)
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Private Attributes
rclcpp::Publisher< geometry_msgs::msg::PoseWithCovarianceStamped >::SharedPtr	initalPosePub_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
virtual void	onInitialize ()
template<typename EventType >
void	postEvent (const EventType &ev)
template<typename EventType >
void	postEvent ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist=false)
template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, bool throwExceptionIfNotExist=false)
template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)
template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)
rclcpp::Node::SharedPtr	getNode ()
rclcpp::Logger	getLogger () const
ISmaccStateMachine *	getStateMachine ()
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Definition at line 27 of file amcl.hpp.

Constructor & Destructor Documentation

Amcl()

cl_nav2z::Amcl::Amcl

(

)

Definition at line 26 of file amcl.cpp.

{}

~Amcl()

cl_nav2z::Amcl::~Amcl ( )

virtual

Definition at line 28 of file amcl.cpp.

{}

Member Function Documentation

getName()

std::string cl_nav2z::Amcl::getName ( ) const

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 30 of file amcl.cpp.

{ return "AMCL"; }

onInitialize()

void cl_nav2z::Amcl::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 32 of file amcl.cpp.

{
  initalPosePub_ = getNode()->create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>(
    "initialpose", rclcpp::QoS(10));
}

References smacc2::ISmaccComponent::getNode(), and initalPosePub_.

Here is the call graph for this function:

setInitialPose()

void cl_nav2z::Amcl::setInitialPose

(

const geometry_msgs::msg::PoseWithCovarianceStamped &

initialpose

)

Definition at line 38 of file amcl.cpp.

{
  initalPosePub_->publish(initialpose);
}

References initalPosePub_.

Member Data Documentation

initalPosePub_

rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr cl_nav2z::Amcl::initalPosePub_

private

Definition at line 40 of file amcl.hpp.

Referenced by onInitialize(), and setInitialPose().

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/components/amcl/amcl.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/amcl/amcl.cpp