goal_functions.h File Reference

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Point.h>
#include <string>
#include <cmath>
#include <angles/angles.h>
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/costmap_2d_ros.h>

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Namespaces
namespace	base_local_planner
Functions
double	base_local_planner::distance (double x1, double y1, double x2, double y2)
	Compute the distance between two points.
bool	base_local_planner::goalOrientationReached (const tf::Stamped< tf::Pose > &global_pose, double goal_th, double yaw_goal_tolerance)
	Check if the goal orientation has been achieved.
bool	base_local_planner::goalPositionReached (const tf::Stamped< tf::Pose > &global_pose, double goal_x, double goal_y, double xy_goal_tolerance)
	Check if the goal position has been achieved.
bool	base_local_planner::isGoalReached (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2DROS &costmap_ros, const std::string &global_frame, const nav_msgs::Odometry &base_odom, double rot_stopped_vel, double trans_stopped_vel, double xy_goal_tolerance, double yaw_goal_tolerance)
	Check if the goal pose has been achieved.
void	base_local_planner::prunePlan (const tf::Stamped< tf::Pose > &global_pose, std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan)
	Trim off parts of the global plan that are far enough behind the robot.
void	base_local_planner::publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, const ros::Publisher &pub, double r, double g, double b, double a)
	Publish a plan for visualization purposes.
bool	base_local_planner::stopped (const nav_msgs::Odometry &base_odom, const double &rot_stopped_velocity, const double &trans_stopped_velocity)
	Check whether the robot is stopped or not.
bool	base_local_planner::transformGlobalPlan (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2DROS &costmap, const std::string &global_frame, std::vector< geometry_msgs::PoseStamped > &transformed_plan)
	Transforms the global plan of the robot from the planner frame to the local frame.