nav_core::BaseGlobalPlanner Class Reference

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

#include <base_global_planner.h>

Public Member Functions
virtual void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)=0
	Initialization function for the BaseGlobalPlanner. More...
virtual bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)=0
	Given a goal pose in the world, compute a plan. More...
virtual bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan, double &cost)
	Given a goal pose in the world, compute a plan. More...
virtual	~BaseGlobalPlanner ()
	Virtual destructor for the interface. More...

Protected Member Functions
	BaseGlobalPlanner ()

Detailed Description

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

Definition at line 83 of file base_global_planner.h.

Constructor & Destructor Documentation

~BaseGlobalPlanner()

virtual nav_core::BaseGlobalPlanner::~BaseGlobalPlanner ( )

inlinevirtual

Virtual destructor for the interface.

Definition at line 121 of file base_global_planner.h.

BaseGlobalPlanner()

nav_core::BaseGlobalPlanner::BaseGlobalPlanner ( )

inlineprotected

Definition at line 124 of file base_global_planner.h.

Member Function Documentation

initialize()

virtual void nav_core::BaseGlobalPlanner::initialize ( std::string  name, costmap_2d::Costmap2DROS *  costmap_ros  )

pure virtual

Initialization function for the BaseGlobalPlanner.

Parameters

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

makePlan() [1/2]

virtual bool nav_core::BaseGlobalPlanner::makePlan ( const geometry_msgs::PoseStamped &  start, const geometry_msgs::PoseStamped &  goal, std::vector< geometry_msgs::PoseStamped > &  plan  )

pure 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

makePlan() [2/2]

virtual bool nav_core::BaseGlobalPlanner::makePlan ( const geometry_msgs::PoseStamped &  start, const geometry_msgs::PoseStamped &  goal, std::vector< geometry_msgs::PoseStamped > &  plan, double &  cost  )

inlinevirtual

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
cost	The plans calculated cost

Returns

True if a valid plan was found, false otherwise

Definition at line 103 of file base_global_planner.h.

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The documentation for this class was generated from the following file:

• base_global_planner.h