bid_action.cpp File Reference

#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <swarmros/String.h>
#include <cpswarm_msgs/TaskAllocationEvent.h>
#include <cpswarm_msgs/TaskAllocatedEvent.h>
#include <cpswarm_msgs/TaskAllocationAction.h>

Include dependency graph for bid_action.cpp:

Go to the source code of this file.

Typedefs
typedef actionlib::SimpleActionServer< cpswarm_msgs::TaskAllocationAction >	Server
	The server object that offers the task allocation auction as action server. More...

Functions
void	allocation_callback (const cpswarm_msgs::TaskAllocatedEvent::ConstPtr &msg)
	Callback function to receive the task allocation result. More...
void	bid_callback (const cpswarm_msgs::TaskAllocationGoal::ConstPtr &goal, Server *as)
	Callback function to participate in a task allocation auction. More...
int	main (int argc, char **argv)
	A ROS node that exchanges relative kinematics between CPSs in a swarm. More...
void	pose_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
	Callback function to receive the position of this CPS. More...
void	uuid_callback (const swarmros::String::ConstPtr &msg)
	Callback function to receive the UUID of this CPS. More...

Variables
cpswarm_msgs::TaskAllocatedEvent	allocation
	The result of the task allocation auction. More...
geometry_msgs::Pose	pose
	Position of this CPS. More...
bool	pose_received
	Whether a position of this CPS has been received. More...
Publisher	publisher
	Publisher to submit a bid to the auction. More...
int	task_id
	The ID of the task that is auctioned. More...
string	uuid
	The UUID if this CPS. More...

Typedef Documentation

Server

typedef actionlib::SimpleActionServer<cpswarm_msgs::TaskAllocationAction> Server

The server object that offers the task allocation auction as action server.

Definition at line 16 of file bid_action.cpp.

Function Documentation

allocation_callback()

void allocation_callback

(

const cpswarm_msgs::TaskAllocatedEvent::ConstPtr &

msg

)

Callback function to receive the task allocation result.

Parameters

msg	The result of the task allocation auction.

Definition at line 62 of file bid_action.cpp.

bid_callback()

void bid_callback	(	const cpswarm_msgs::TaskAllocationGoal::ConstPtr &	goal,
		Server *	as
	)

Callback function to participate in a task allocation auction.

Parameters

goal	The bidding goal.
as	Reference to the action server object.

Definition at line 83 of file bid_action.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

A ROS node that exchanges relative kinematics between CPSs in a swarm.

Parameters

argc	Number of command line arguments.
argv	Array of command line arguments.

Returns

Success.

Definition at line 143 of file bid_action.cpp.

pose_callback()

void pose_callback

(

const geometry_msgs::PoseStamped::ConstPtr &

msg

)

Callback function to receive the position of this CPS.

Parameters

msg	The pose of this CPS.

Definition at line 52 of file bid_action.cpp.

uuid_callback()

void uuid_callback

(

const swarmros::String::ConstPtr &

msg

)

Callback function to receive the UUID of this CPS.

Parameters

msg	The UUID of this CPS.

Definition at line 73 of file bid_action.cpp.

Variable Documentation

allocation

cpswarm_msgs::TaskAllocatedEvent allocation

The result of the task allocation auction.

Definition at line 31 of file bid_action.cpp.

pose

geometry_msgs::Pose pose

Position of this CPS.

Definition at line 26 of file bid_action.cpp.

pose_received

bool pose_received

Whether a position of this CPS has been received.

Definition at line 41 of file bid_action.cpp.

publisher

Publisher publisher

Publisher to submit a bid to the auction.

Definition at line 21 of file bid_action.cpp.

task_id

int task_id

The ID of the task that is auctioned.

Definition at line 46 of file bid_action.cpp.

uuid

string uuid

The UUID if this CPS.

Definition at line 36 of file bid_action.cpp.