SBPLCartPlanner Class Reference

#include <sbpl_cart_planner.h>

Inheritance diagram for SBPLCartPlanner:

Public Member Functions
virtual void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the SBPLCartPlanner 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.
	SBPLCartPlanner (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Constructor for the SBPLCartPlanner object.
	SBPLCartPlanner ()
	Default constructor for the NavFnROS object.
virtual	~SBPLCartPlanner ()
Private Member Functions
bool	clearFootprint (const geometry_msgs::Pose &robot_pose, const std::vector< geometry_msgs::Point > &footprint)
void	convertPathToMarkerArray (const std::vector< EnvNAVXYTHETACARTLAT3Dpt_t > &sbpl_path, const std::string &path_frame_id, visualization_msgs::MarkerArray &ma)
unsigned char	costMapCostToSBPLCost (unsigned char newcost)
void	getFootprintList (const std::vector< EnvNAVXYTHETACARTLAT3Dpt_t > &sbpl_path, const std::string &path_frame_id, visualization_msgs::MarkerArray &ma)
geometry_msgs::Pose	getGlobalCartPose (const geometry_msgs::Pose &robot_pose, const double &cart_angle)
geometry_msgs::Pose	getGlobalCartPose (const EnvNAVXYTHETACARTLAT3Dpt_t &sbpl_pose)
geometry_msgs::Pose	getLocalCartControlFramePose (const EnvNAVXYTHETACARTLAT3Dpt_t &sbpl_pose)
geometry_msgs::Pose	getLocalCartPose (const EnvNAVXYTHETACARTLAT3Dpt_t &sbpl_pose)
void	getOrientedFootprint (const geometry_msgs::Pose &robot_pose, const std::vector< geometry_msgs::Point > &footprint, std::vector< geometry_msgs::Point > &oriented_footprint)
std::vector< geometry_msgs::Point >	loadRobotFootprint (ros::NodeHandle node)
double	sign (double x)
void	transformFootprintToEdges (const geometry_msgs::Pose &robot_pose, const std::vector< geometry_msgs::Point > &footprint, std::vector< geometry_msgs::Point > &out_footprint)
Private Attributes
double	allocated_time_
sbpl_2Dpt_t	cart_cp_offset_
std::vector< geometry_msgs::Point >	cart_footprint_
sbpl_2Dpt_t	cart_offset_
costmap_2d::Costmap2D	cost_map_
std::string	cost_map_topic_
costmap_2d::Costmap2DROS *	costmap_ros_
EnvironmentNAVXYTHETACARTLAT *	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_
unsigned int	num_sbpl_markers_
ros::Publisher	plan_pub_
SBPLPlanner *	planner_
std::string	planner_type_
std::string	primitive_filename_
std::vector< geometry_msgs::Point >	robot_footprint_
unsigned char	sbpl_cost_multiplier_
ros::Publisher	sbpl_plan_footprint_pub_
ros::Publisher	sbpl_plan_pub_
ros::Publisher	sbpl_robot_cart_plan_pub_
ros::Publisher	stats_publisher_
int	visualizer_skip_poses_

Detailed Description

Definition at line 67 of file sbpl_cart_planner.h.

Constructor & Destructor Documentation

SBPLCartPlanner::SBPLCartPlanner ( )

Default constructor for the NavFnROS object.

Definition at line 82 of file sbpl_cart_planner.cpp.

SBPLCartPlanner::SBPLCartPlanner	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructor for the SBPLCartPlanner object.

Parameters:

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

Definition at line 86 of file sbpl_cart_planner.cpp.

virtual SBPLCartPlanner::~SBPLCartPlanner ( ) [inline, virtual]

Definition at line 103 of file sbpl_cart_planner.h.

Member Function Documentation

bool SBPLCartPlanner::clearFootprint	(	const geometry_msgs::Pose &	robot_pose,
		const std::vector< geometry_msgs::Point > &	footprint
	)			`[private]`

Definition at line 797 of file sbpl_cart_planner.cpp.

void SBPLCartPlanner::convertPathToMarkerArray	(	const std::vector< EnvNAVXYTHETACARTLAT3Dpt_t > &	sbpl_path,
		const std::string &	path_frame_id,
		visualization_msgs::MarkerArray &	ma
	)			`[private]`

Definition at line 592 of file sbpl_cart_planner.cpp.

unsigned char SBPLCartPlanner::costMapCostToSBPLCost ( unsigned char newcost ) [private]

Definition at line 292 of file sbpl_cart_planner.cpp.

void SBPLCartPlanner::getFootprintList	(	const std::vector< EnvNAVXYTHETACARTLAT3Dpt_t > &	sbpl_path,
		const std::string &	path_frame_id,
		visualization_msgs::MarkerArray &	ma
	)			`[private]`

Definition at line 709 of file sbpl_cart_planner.cpp.

geometry_msgs::Pose SBPLCartPlanner::getGlobalCartPose	(	const geometry_msgs::Pose &	robot_pose,
		const double &	cart_angle
	)			`[private]`

Definition at line 828 of file sbpl_cart_planner.cpp.

geometry_msgs::Pose SBPLCartPlanner::getGlobalCartPose ( const EnvNAVXYTHETACARTLAT3Dpt_t & sbpl_pose ) [private]

Definition at line 669 of file sbpl_cart_planner.cpp.

geometry_msgs::Pose SBPLCartPlanner::getLocalCartControlFramePose ( const EnvNAVXYTHETACARTLAT3Dpt_t & sbpl_pose ) [private]

Definition at line 683 of file sbpl_cart_planner.cpp.

geometry_msgs::Pose SBPLCartPlanner::getLocalCartPose ( const EnvNAVXYTHETACARTLAT3Dpt_t & sbpl_pose ) [private]

Definition at line 696 of file sbpl_cart_planner.cpp.

void SBPLCartPlanner::getOrientedFootprint	(	const geometry_msgs::Pose &	robot_pose,
		const std::vector< geometry_msgs::Point > &	footprint,
		std::vector< geometry_msgs::Point > &	oriented_footprint
	)			`[private]`

Definition at line 814 of file sbpl_cart_planner.cpp.

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

Initialization function for the SBPLCartPlanner object.

Parameters:

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

Implements nav_core::BaseGlobalPlanner.

Definition at line 95 of file sbpl_cart_planner.cpp.

std::vector< geometry_msgs::Point > SBPLCartPlanner::loadRobotFootprint ( ros::NodeHandle node ) [private]

Definition at line 305 of file sbpl_cart_planner.cpp.

bool SBPLCartPlanner::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

Returns:: True if a valid plan was found, false otherwise

Implements nav_core::BaseGlobalPlanner.

Definition at line 359 of file sbpl_cart_planner.cpp.

double SBPLCartPlanner::sign ( double x ) [private]

Definition at line 77 of file sbpl_cart_planner.cpp.

void SBPLCartPlanner::transformFootprintToEdges	(	const geometry_msgs::Pose &	robot_pose,
		const std::vector< geometry_msgs::Point > &	footprint,
		std::vector< geometry_msgs::Point > &	out_footprint
	)			`[private]`

Definition at line 773 of file sbpl_cart_planner.cpp.

Member Data Documentation

double SBPLCartPlanner::allocated_time_ [private]

amount of time allowed for search

Definition at line 113 of file sbpl_cart_planner.h.

sbpl_2Dpt_t SBPLCartPlanner::cart_cp_offset_ [private]

Definition at line 133 of file sbpl_cart_planner.h.

std::vector<geometry_msgs::Point> SBPLCartPlanner::cart_footprint_ [private]

Definition at line 139 of file sbpl_cart_planner.h.

sbpl_2Dpt_t SBPLCartPlanner::cart_offset_ [private]

Definition at line 133 of file sbpl_cart_planner.h.

costmap_2d::Costmap2D SBPLCartPlanner::cost_map_ [private]

local copy of the costmap underlying cost_map_ros_

Definition at line 125 of file sbpl_cart_planner.h.

std::string SBPLCartPlanner::cost_map_topic_ [private]

what type of environment in which to plan. choices are 2D and XYThetaLattice.

Definition at line 117 of file sbpl_cart_planner.h.

costmap_2d::Costmap2DROS* SBPLCartPlanner::costmap_ros_ [private]

the number of cells that have to be changed in the costmap to force the planner to plan from scratch even if its an incremental planner manages the cost map for us

Definition at line 124 of file sbpl_cart_planner.h.

EnvironmentNAVXYTHETACARTLAT* SBPLCartPlanner::env_ [private]

Definition at line 109 of file sbpl_cart_planner.h.

std::string SBPLCartPlanner::environment_type_ [private]

Definition at line 116 of file sbpl_cart_planner.h.

std::vector<geometry_msgs::Point> SBPLCartPlanner::footprint_ [private]

Definition at line 129 of file sbpl_cart_planner.h.

int SBPLCartPlanner::force_scratch_limit_ [private]

where to find the motion primitives for the current robot

Definition at line 121 of file sbpl_cart_planner.h.

bool SBPLCartPlanner::forward_search_ [private]

what topic is being used for the costmap topic