#include <sbpl_lattice_planner.h>
Public Member Functions | |
virtual void | initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros) |
Initialization function for the SBPLLatticePlanner object. | |
virtual bool | makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan) |
Given a goal pose in the world, compute a plan. | |
SBPLLatticePlanner () | |
Default constructor for the NavFnROS object. | |
SBPLLatticePlanner (std::string name, costmap_2d::Costmap2DROS *costmap_ros) | |
Constructor for the SBPLLatticePlanner object. | |
virtual | ~SBPLLatticePlanner () |
Private Member Functions | |
unsigned char | costMapCostToSBPLCost (unsigned char newcost) |
void | publishStats (int solution_cost, int solution_size, const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal) |
Private Attributes | |
double | allocated_time_ |
costmap_2d::Costmap2D | cost_map_ |
std::string | cost_map_topic_ |
costmap_2d::Costmap2DROS * | costmap_ros_ |
EnvironmentNAVXYTHETALAT * | env_ |
std::string | environment_type_ |
std::vector< geometry_msgs::Point > | footprint_ |
int | force_scratch_limit_ |
bool | forward_search_ |
double | initial_epsilon_ |
bool | initialized_ |
unsigned char | inscribed_inflated_obstacle_ |
unsigned char | lethal_obstacle_ |
ros::Publisher | plan_pub_ |
SBPLPlanner * | planner_ |
std::string | planner_type_ |
std::string | primitive_filename_ |
unsigned char | sbpl_cost_multiplier_ |
ros::Publisher | stats_publisher_ |
Definition at line 23 of file sbpl_lattice_planner.h.
Default constructor for the NavFnROS object.
Definition at line 77 of file sbpl_lattice_planner.cpp.
sbpl_lattice_planner::SBPLLatticePlanner::SBPLLatticePlanner | ( | std::string | name, |
costmap_2d::Costmap2DROS * | costmap_ros | ||
) |
Constructor for the SBPLLatticePlanner object.
name | The name of this planner |
costmap_ros | A pointer to the ROS wrapper of the costmap to use |
Definition at line 81 of file sbpl_lattice_planner.cpp.
virtual sbpl_lattice_planner::SBPLLatticePlanner::~SBPLLatticePlanner | ( | ) | [inline, virtual] |
Definition at line 59 of file sbpl_lattice_planner.h.
unsigned char sbpl_lattice_planner::SBPLLatticePlanner::costMapCostToSBPLCost | ( | unsigned char | newcost | ) | [private] |
Definition at line 193 of file sbpl_lattice_planner.cpp.
void sbpl_lattice_planner::SBPLLatticePlanner::initialize | ( | std::string | name, |
costmap_2d::Costmap2DROS * | costmap_ros | ||
) | [virtual] |
Initialization function for the SBPLLatticePlanner object.
name | The name of this planner |
costmap_ros | A pointer to the ROS wrapper of the costmap to use |
Implements nav_core::BaseGlobalPlanner.
Definition at line 87 of file sbpl_lattice_planner.cpp.
bool sbpl_lattice_planner::SBPLLatticePlanner::makePlan | ( | const geometry_msgs::PoseStamped & | start, |
const geometry_msgs::PoseStamped & | goal, | ||
std::vector< geometry_msgs::PoseStamped > & | plan | ||
) | [virtual] |
Given a goal pose in the world, compute a plan.
start | The start pose |
goal | The goal pose |
plan | The plan... filled by the planner |
Implements nav_core::BaseGlobalPlanner.
Definition at line 226 of file sbpl_lattice_planner.cpp.
void sbpl_lattice_planner::SBPLLatticePlanner::publishStats | ( | int | solution_cost, |
int | solution_size, | ||
const geometry_msgs::PoseStamped & | start, | ||
const geometry_msgs::PoseStamped & | goal | ||
) | [private] |
Definition at line 204 of file sbpl_lattice_planner.cpp.
double sbpl_lattice_planner::SBPLLatticePlanner::allocated_time_ [private] |
amount of time allowed for search
Definition at line 74 of file sbpl_lattice_planner.h.
local copy of the costmap underlying cost_map_ros_
Definition at line 90 of file sbpl_lattice_planner.h.
std::string sbpl_lattice_planner::SBPLLatticePlanner::cost_map_topic_ [private] |
what type of environment in which to plan. choices are 2D and XYThetaLattice.
Definition at line 78 of file sbpl_lattice_planner.h.
manages the cost map for us
Definition at line 89 of file sbpl_lattice_planner.h.
Definition at line 70 of file sbpl_lattice_planner.h.
std::string sbpl_lattice_planner::SBPLLatticePlanner::environment_type_ [private] |
Definition at line 77 of file sbpl_lattice_planner.h.
Definition at line 95 of file sbpl_lattice_planner.h.
where to find the motion primitives for the current robot
Definition at line 82 of file sbpl_lattice_planner.h.
bool sbpl_lattice_planner::SBPLLatticePlanner::forward_search_ [private] |
what topic is being used for the costmap topic
Definition at line 80 of file sbpl_lattice_planner.h.
double sbpl_lattice_planner::SBPLLatticePlanner::initial_epsilon_ [private] |
initial epsilon for beginning the anytime search
Definition at line 75 of file sbpl_lattice_planner.h.
bool sbpl_lattice_planner::SBPLLatticePlanner::initialized_ [private] |
Definition at line 67 of file sbpl_lattice_planner.h.
unsigned char sbpl_lattice_planner::SBPLLatticePlanner::inscribed_inflated_obstacle_ [private] |
Definition at line 85 of file sbpl_lattice_planner.h.
unsigned char sbpl_lattice_planner::SBPLLatticePlanner::lethal_obstacle_ [private] |
the number of cells that have to be changed in the costmap to force the planner to plan from scratch even if its an incremental planner
Definition at line 84 of file sbpl_lattice_planner.h.
Definition at line 92 of file sbpl_lattice_planner.h.
Definition at line 69 of file sbpl_lattice_planner.h.
std::string sbpl_lattice_planner::SBPLLatticePlanner::planner_type_ [private] |
sbpl method to use for planning. choices are ARAPlanner and ADPlanner
Definition at line 72 of file sbpl_lattice_planner.h.
std::string sbpl_lattice_planner::SBPLLatticePlanner::primitive_filename_ [private] |
whether to use forward or backward search
Definition at line 81 of file sbpl_lattice_planner.h.
unsigned char sbpl_lattice_planner::SBPLLatticePlanner::sbpl_cost_multiplier_ [private] |
Definition at line 86 of file sbpl_lattice_planner.h.
Definition at line 93 of file sbpl_lattice_planner.h.