sbpl_lattice_planner::SBPLLatticePlanner Class Reference

Public Member Functions
virtual void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the SBPLLatticePlanner object.
virtual bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Given a goal pose in the world, compute a plan.
	SBPLLatticePlanner (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Constructor for the SBPLLatticePlanner object.
	SBPLLatticePlanner ()
	Default constructor for the NavFnROS object.
virtual	~SBPLLatticePlanner ()
Private Member Functions
unsigned char	costMapCostToSBPLCost (unsigned char newcost)
void	publishStats (int solution_cost, int solution_size, const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal)
Private Attributes
double	allocated_time_
costmap_2d::Costmap2D	cost_map_
std::string	cost_map_topic_
costmap_2d::Costmap2DROS *	costmap_ros_
EnvironmentNAVXYTHETALAT *	env_
std::string	environment_type_
std::vector< geometry_msgs::Point >	footprint_
int	force_scratch_limit_
bool	forward_search_
double	initial_epsilon_
bool	initialized_
unsigned char	inscribed_inflated_obstacle_
unsigned char	lethal_obstacle_
ros::Publisher	plan_pub_
SBPLPlanner *	planner_
std::string	planner_type_
std::string	primitive_filename_
unsigned char	sbpl_cost_multiplier_
ros::Publisher	stats_publisher_

Detailed Description

Definition at line 22 of file sbpl_lattice_planner.h.

sbpl_lattice_planner::SBPLLatticePlanner::SBPLLatticePlanner ( )

Default constructor for the NavFnROS object.

Definition at line 77 of file sbpl_lattice_planner.cpp.

sbpl_lattice_planner::SBPLLatticePlanner::SBPLLatticePlanner	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructor for the SBPLLatticePlanner object.

Parameters:

	name	The name of this planner
	costmap_ros	A pointer to the ROS wrapper of the costmap to use

Definition at line 81 of file sbpl_lattice_planner.cpp.

virtual sbpl_lattice_planner::SBPLLatticePlanner::~SBPLLatticePlanner ( ) [inline, virtual]

Definition at line 56 of file sbpl_lattice_planner.h.

unsigned char sbpl_lattice_planner::SBPLLatticePlanner::costMapCostToSBPLCost ( unsigned char newcost ) [private]

Definition at line 193 of file sbpl_lattice_planner.cpp.

void sbpl_lattice_planner::SBPLLatticePlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)			`[virtual]`

Initialization function for the SBPLLatticePlanner object.

Parameters:

	name	The name of this planner
	costmap_ros	A pointer to the ROS wrapper of the costmap to use

Definition at line 87 of file sbpl_lattice_planner.cpp.

bool sbpl_lattice_planner::SBPLLatticePlanner::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)			`[virtual]`

Given a goal pose in the world, compute a plan.

Parameters:

	start	The start pose
	goal	The goal pose
	plan	The plan... filled by the planner

Definition at line 226 of file sbpl_lattice_planner.cpp.

void sbpl_lattice_planner::SBPLLatticePlanner::publishStats	(	int	solution_cost,
		int	solution_size,
		const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal
	)			`[private]`