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 ()

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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.

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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.

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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

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

• base_local_planner.h