#include <wrapper_global_planner.h>
Definition at line 54 of file wrapper_global_planner.h.
◆ WrapperGlobalPlanner()
Public constructor used for handling a nav_core-based plugin.
- Parameters
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plugin | Backward compatible plugin |
Definition at line 75 of file wrapper_global_planner.cpp.
◆ ~WrapperGlobalPlanner()
mbf_nav_core_wrapper::WrapperGlobalPlanner::~WrapperGlobalPlanner |
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◆ cancel()
bool mbf_nav_core_wrapper::WrapperGlobalPlanner::cancel |
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◆ initialize()
void mbf_nav_core_wrapper::WrapperGlobalPlanner::initialize |
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std::string |
name, |
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costmap_2d::Costmap2DROS * |
costmap_ros |
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◆ makePlan()
uint32_t mbf_nav_core_wrapper::WrapperGlobalPlanner::makePlan |
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const geometry_msgs::PoseStamped & |
start, |
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const geometry_msgs::PoseStamped & |
goal, |
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double |
tolerance, |
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std::vector< geometry_msgs::PoseStamped > & |
plan, |
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double & |
cost, |
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std::string & |
message |
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virtual |
Given a goal pose in the world, compute a plan.
- Parameters
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start | The start pose |
goal | The goal pose |
tolerance | If the goal is obstructed, how many meters the planner can relax the constraint in x and y before failing |
plan | The plan... filled by the planner |
cost | The cost for the the plan |
message | Optional more detailed outcome as a string |
- Returns
- Result code as described on GetPath action result, As this is a wrapper to the nav_core, only 0 (SUCCESS) and 50 (FAILURE) are supported
Implements mbf_costmap_core::CostmapPlanner.
Definition at line 46 of file wrapper_global_planner.cpp.
◆ nav_core_plugin_
The documentation for this class was generated from the following files: