base_local_planner: goal_functions.h Source File

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00035 * Author: Eitan Marder-Eppstein
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00037 #ifndef BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_
00038 #define BASE_LOCAL_PLANNER_GOAL_FUNCTIONS_H_
00039 
00040 #include <ros/ros.h>
00041 #include <tf/transform_listener.h>
00042 #include <tf/transform_datatypes.h>
00043 #include <nav_msgs/Odometry.h>
00044 #include <nav_msgs/Path.h>
00045 #include <geometry_msgs/PoseStamped.h>
00046 #include <geometry_msgs/Twist.h>
00047 #include <geometry_msgs/Point.h>
00048 #include <tf/transform_listener.h>
00049 
00050 #include <string>
00051 #include <cmath>
00052 
00053 #include <angles/angles.h>
00054 #include <costmap_2d/costmap_2d.h>
00055 #include <costmap_2d/costmap_2d_ros.h>
00056 
00057 namespace base_local_planner {
00065   double distance(double x1, double y1, double x2, double y2);
00066 
00075   bool goalPositionReached(const tf::Stamped<tf::Pose>& global_pose, double goal_x, double goal_y, double xy_goal_tolerance);
00076 
00085   bool goalOrientationReached(const tf::Stamped<tf::Pose>& global_pose, double goal_th, double yaw_goal_tolerance);
00086 
00093   void publishPlan(const std::vector<geometry_msgs::PoseStamped>& path, const ros::Publisher& pub, double r, double g, double b, double a);
00094 
00101   void prunePlan(const tf::Stamped<tf::Pose>& global_pose, std::vector<geometry_msgs::PoseStamped>& plan, std::vector<geometry_msgs::PoseStamped>& global_plan);
00102 
00111   bool transformGlobalPlan(const tf::TransformListener& tf, const std::vector<geometry_msgs::PoseStamped>& global_plan, 
00112       const costmap_2d::Costmap2DROS& costmap, const std::string& global_frame, 
00113       std::vector<geometry_msgs::PoseStamped>& transformed_plan);
00114 
00128   bool isGoalReached(const tf::TransformListener& tf, const std::vector<geometry_msgs::PoseStamped>& global_plan, 
00129       const costmap_2d::Costmap2DROS& costmap_ros, const std::string& global_frame, 
00130       const nav_msgs::Odometry& base_odom, double rot_stopped_vel, double trans_stopped_vel,
00131       double xy_goal_tolerance, double yaw_goal_tolerance);
00132 
00140   bool stopped(const nav_msgs::Odometry& base_odom, 
00141       const double& rot_stopped_velocity, const double& trans_stopped_velocity);
00142 };
00143 #endif