GoalManager Class Reference

Handles navigation goals, their lifecycle, and command interface. More...

#include <GoalManager.hpp>

Public Types
enum class	State { IDLE , ACTIVE }
	Current internal goal state. More...

Public Member Functions
void	check_goals (const geometry_msgs::msg::Pose &current_pose, double position_tolerance, double angle_tolerance)
	Check if the robot is currently at the first goal.
nav_msgs::msg::Goals	get_goals () const
	Get current goals.
State	get_state () const
	Get current internal goal state.
	GoalManager (NavState &nav_state, rclcpp_lifecycle::LifecycleNode::SharedPtr parent_node)
	Constructor.
void	set_error (const std::string &reason)
	Mark the system as in error state.
void	set_failed (const std::string &reason)
	Mark the current goal as failed.
void	set_finished ()
	Mark the current goal as successfully completed.
void	update (NavState &nav_state)
	Update internal logic, including preemption and timeout checks.

Detailed Description

Handles navigation goals, their lifecycle, and command interface.

Manages goal state, handles external control messages, and interacts with navigation components.

Member Enumeration Documentation

State

enum class State

strong

Current internal goal state.

Enumerator
IDLE	No active goal.
ACTIVE	A goal is currently being pursued.

Constructor & Destructor Documentation

GoalManager()

GoalManager	(	NavState &	nav_state,
		rclcpp_lifecycle::LifecycleNode::SharedPtr	parent_node )

Constructor.

Parameters

nav_state	Shared pointer to navigation state.
parent_node	Lifecycle node for parameter and interface management.

Member Function Documentation

check_goals()

void check_goals	(	const geometry_msgs::msg::Pose &	current_pose,
		double	position_tolerance,
		double	angle_tolerance )

Check if the robot is currently at the first goal.

Compares the current pose against the first target in the list using positional and angular tolerances.

Parameters

current_pose	Current pose of the robot.
position_tolerance	Maximum allowed positional error (meters).
angle_tolerance	Maximum allowed angular error (radians).

get_goals()

nav_msgs::msg::Goals get_goals ( ) const

nodiscard

Get current goals.

Returns

Goals message.

get_state()

State get_state ( ) const

nodiscard

Get current internal goal state.

Returns

GoalManager::State value.

set_error()

void set_error

(

const std::string &

reason

)

Mark the system as in error state.

Parameters

reason

Textual explanation.

set_failed()

void set_failed

(

const std::string &

reason

)

Mark the current goal as failed.

Parameters

reason

Textual explanation.

set_finished()

void set_finished

(

)

Mark the current goal as successfully completed.

update()

void update

(

NavState &

nav_state

)

Update internal logic, including preemption and timeout checks.

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

• easynav_system/include/easynav_system/GoalManager.hpp
• easynav_system/src/easynav_system/GoalManager.cpp