Class DriveStraightBehavior

• Defined in File drive-straight-behavior.hpp

Nested Relationships

Nested Types

• Struct DriveStraightBehavior::Config

Inheritance Relationships

Base Type

• public create3_coverage::Behavior (Class Behavior)

Class Documentation

class DriveStraightBehavior : public create3_coverage::Behavior

Public Types

using OpCodeMsg = irobot_create_msgs::msg::IrOpcode

using TwistMsg = geometry_msgs::msg::Twist

Public Functions

DriveStraightBehavior(Config config, rclcpp::Publisher<TwistMsg>::SharedPtr cmd_vel_publisher, rclcpp::Logger logger, rclcpp::Clock::SharedPtr clock)

~DriveStraightBehavior() = default

virtual State execute(const Data &data) override

inline virtual int32_t get_id() const override

struct Config

Public Members

double max_distance = {5}

double min_distance = {0.25}

double linear_vel = {0.25}