VelocityMux Class Reference

Decides, every RT cycle, which velocity command is sent to the robot. More...

#include <VelocityMux.hpp>

Classes
struct	Selection
	This cycle's selection. More...

Public Types
enum class	Choice {   NONE , CONTROLLER , PAUSED , TAKEOVER ,   OVERRIDE , SAFETY_STOP , INHIBITED }
	Who the selected command comes from. More...

Public Member Functions
void	reset ()
	Forgets the last target (e.g. on activation).
Selection	select (NavState &nav_state)
	Takes this cycle's proposals from nav_state and selects the command.

Detailed Description

Decides, every RT cycle, which velocity command is sent to the robot.

Takes the commands proposed this cycle (see velocity_command) and picks, by priority:

1. zero, during a protective stop of the safety channel ("safety_status"), or braking to zero while motion is inhibited ("inhibit_motion");
2. an emergency override (VelocitySource::OVERRIDE, published as is, not smoothed);
3. a command that takes over the robot's motion (VelocitySource::TAKEOVER);
4. zero, while navigation is paused ("navigation_paused");
5. the nominal controller's command (VelocitySource::CONTROLLER). With no new proposal, the last target is kept, so the smoother can keep ramping towards it.

Member Enumeration Documentation

Choice

enum class Choice

strong

Who the selected command comes from.

Enumerator
NONE
CONTROLLER
PAUSED
TAKEOVER
OVERRIDE
SAFETY_STOP
INHIBITED

Member Function Documentation

reset()

void reset

(

)

Forgets the last target (e.g. on activation).

select()

VelocityMux::Selection select

(

NavState &

nav_state

)

Takes this cycle's proposals from nav_state and selects the command.

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

• easynav_controller/include/easynav_controller/VelocityMux.hpp
• easynav_controller/src/easynav_controller/VelocityMux.cpp