#include "tfd_modules/module_api/pddlModuleTypes.h"
#include "planner_modules_pr2/module_param_cache.h"
#include <map>
#include <string>
#include <utility>
#include <ros/ros.h>
#include <nav_msgs/GetPlan.h>

Include dependency graph for navstack_module.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Functions
double	callPlanningService (nav_msgs::GetPlan &srv, const string &startLocationName, const string &goalLocationName, bool &callFailure)
	Return the cost of the plan.
string	computePathCacheKey (const string &startLocation, const string &goalLocation, const geometry_msgs::Pose &startPose, const geometry_msgs::Pose &goalPose)
bool	fillPathRequest (const modules::ParameterList &parameterList, modules::numericalFluentCallbackType numericalFluentCallback, nav_msgs::GetPlan::Request &request)
double	getPlanCost (const std::vector< geometry_msgs::PoseStamped > &plan)
void	navstack_init (int argc, char **argv)
double	pathCost (const modules::ParameterList &parameterList, modules::predicateCallbackType predicateCallback, modules::numericalFluentCallbackType numericalFluentCallback, int relaxed)
Variables
static const bool	g_Debug = false
ros::ServiceClient	g_GetPlan
double	g_GoalTolerance
ros::NodeHandle *	g_NodeHandle
ModuleParamCacheDouble	g_PathCostCache
double	g_RotSpeed
double	g_TransSpeed
	speed values for computing the estimated time as cost of a path
std::string	g_WorldFrame
	Plan requests are issued using this frame - so the poses from the planner are given in this frame (e.g. map)

Function Documentation

double callPlanningService	(	nav_msgs::GetPlan &	srv,
		const string &	startLocationName,
		const string &	goalLocationName,
		bool &	callFailure
	)

Return the cost of the plan.

Parameters:

[out] callFailure is set to true, if there was some failure during the call, i.e. the resulting INFINITE_COST does not represent necessarily the impossibility of a path.

Definition at line 222 of file navstack_module.cpp.

string computePathCacheKey	(	const string &	startLocation,
		const string &	goalLocation,
		const geometry_msgs::Pose &	startPose,
		const geometry_msgs::Pose &	goalPose
	)

Definition at line 40 of file navstack_module.cpp.

bool fillPathRequest	(	const modules::ParameterList &	parameterList,
		modules::numericalFluentCallbackType	numericalFluentCallback,
		nav_msgs::GetPlan::Request &	request
	)

Definition at line 145 of file navstack_module.cpp.

double getPlanCost ( const std::vector< geometry_msgs::PoseStamped > & plan )

Definition at line 199 of file navstack_module.cpp.

void navstack_init	(	int	argc,
		char **	argv
	)

Definition at line 56 of file navstack_module.cpp.

double pathCost	(	const modules::ParameterList &	parameterList,
		modules::predicateCallbackType	predicateCallback,
		modules::numericalFluentCallbackType	numericalFluentCallback,
		int	relaxed
	)