nav_core::BaseLocalPlanner Class Reference

Provides an interface for local planners used in navigation. All local planners written as plugins for the navigation stack must adhere to this interface. More...

#include <base_local_planner.h>

List of all members.

Public Member Functions

virtual bool computeVelocityCommands (geometry_msgs::Twist &cmd_vel)=0
 Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.
virtual void initialize (std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmap_ros)=0
 Constructs the local planner.
virtual bool isGoalReached ()=0
 Check if the goal pose has been achieved by the local planner.
virtual bool setPlan (const std::vector< geometry_msgs::PoseStamped > &plan)=0
 Set the plan that the local planner is following.
virtual ~BaseLocalPlanner ()
 Virtual destructor for the interface.

Protected Member Functions

 BaseLocalPlanner ()

Detailed Description

Provides an interface for local planners used in navigation. All local planners written as plugins for the navigation stack must adhere to this interface.

Definition at line 47 of file base_local_planner.h.


Constructor & Destructor Documentation

virtual nav_core::BaseLocalPlanner::~BaseLocalPlanner (  )  [inline, virtual]

Virtual destructor for the interface.

Definition at line 80 of file base_local_planner.h.

nav_core::BaseLocalPlanner::BaseLocalPlanner (  )  [inline, protected]

Definition at line 83 of file base_local_planner.h.


Member Function Documentation

virtual bool nav_core::BaseLocalPlanner::computeVelocityCommands ( geometry_msgs::Twist &  cmd_vel  )  [pure virtual]

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters:
cmd_vel Will be filled with the velocity command to be passed to the robot base
Returns:
True if a valid velocity command was found, false otherwise
virtual void nav_core::BaseLocalPlanner::initialize ( std::string  name,
tf::TransformListener *  tf,
costmap_2d::Costmap2DROS *  costmap_ros 
) [pure virtual]

Constructs the local planner.

Parameters:
name The name to give this instance of the local planner
tf A pointer to a transform listener
costmap The cost map to use for assigning costs to local plans
virtual bool nav_core::BaseLocalPlanner::isGoalReached (  )  [pure virtual]

Check if the goal pose has been achieved by the local planner.

Returns:
True if achieved, false otherwise
virtual bool nav_core::BaseLocalPlanner::setPlan ( const std::vector< geometry_msgs::PoseStamped > &  plan  )  [pure virtual]

Set the plan that the local planner is following.

Parameters:
orig_global_plan The plan to pass to the local planner
Returns:
True if the plan was updated successfully, false otherwise

The documentation for this class was generated from the following file:
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nav_core
Author(s): Eitan Marder-Eppstein
autogenerated on Fri Jan 11 10:07:47 2013