C++ API

Class Hierarchy

• • Namespace nav2_route
    • Namespace nav2_route::GoalIntentSearch
      • Class BreadthFirstSearch
      • Class LoSCollisionChecker
    • Struct Coordinates
    • Struct DirectionalEdge
    • Struct EdgeCost
    • Struct Metadata
    • Struct Node
    • Struct NodeComparator
    • Struct Operation
    • Struct OperationResult
    • Struct OperationsResult
    • Struct ReroutingState
    • Struct Route
    • Struct RouteRequest
    • Struct RouteTrackingState
    • Struct SearchState
    • Class AdjustSpeedLimit
    • Class CollisionMonitor
      • Struct CollisionMonitor::LineSegment
    • Class CornerArc
    • Class CostmapScorer
    • Class DistanceScorer
    • Class DynamicEdgesScorer
    • Class EdgeCostFunction
    • Class EdgeScorer
    • Class GeoJsonGraphFileLoader
    • Class GeoJsonGraphFileSaver
    • Class GoalIntentExtractor
    • Class GoalOrientationScorer
    • Class GraphAdaptor
    • Class GraphFileLoader
    • Class GraphFileSaver
    • Class GraphLoader
    • Class GraphSaver
    • Class NodeSpatialTree
    • Class OperationsManager
    • Class PathConverter
    • Class PenaltyScorer
    • Class ReroutingService
    • Class RouteOperation
    • Template Class RouteOperationClient
    • Class RoutePlanner
    • Class RouteServer
    • Class RouteTracker
    • Class SemanticScorer
    • Class StartPoseOrientationScorer
    • Class TimeMarker
    • Class TimeScorer
    • Class TriggerEvent
    • Enum EdgeType
    • Enum OperationTrigger
    • Enum RouteOperationType
    • Enum TrackerResult
  • Class Find

File Hierarchy

• • Directory include
    • Directory nav2_route
      • Directory interfaces
        • File edge_cost_function.hpp
        • File graph_file_loader.hpp
        • File graph_file_saver.hpp
        • File route_operation.hpp
      • Directory plugins
        • Directory edge_cost_functions
          • File costmap_scorer.hpp
          • File distance_scorer.hpp
          • File dynamic_edges_scorer.hpp
          • File goal_orientation_scorer.hpp
          • File penalty_scorer.hpp
          • File semantic_scorer.hpp
          • File start_pose_orientation_scorer.hpp
          • File time_scorer.hpp
        • Directory graph_file_loaders
          • File geojson_graph_file_loader.hpp
        • Directory graph_file_savers
          • File geojson_graph_file_saver.hpp
        • Directory route_operations
          • File adjust_speed_limit.hpp
          • File collision_monitor.hpp
          • File rerouting_service.hpp
          • File time_marker.hpp
          • File trigger_event.hpp
        • File route_operation_client.hpp
      • File corner_smoothing.hpp
      • File edge_scorer.hpp
      • File goal_intent_extractor.hpp
      • File goal_intent_search.hpp
      • File graph_loader.hpp
      • File graph_saver.hpp
      • File node_spatial_tree.hpp
      • File operations_manager.hpp
      • File path_converter.hpp
      • File route_planner.hpp
      • File route_server.hpp
      • File route_tracker.hpp
      • File types.hpp
      • File utils.hpp

Full C++ API

Namespaces

• Namespace nav2_route

• Namespace nav2_route::GoalIntentSearch

• Namespace nav2_route::utils

• Namespace nav2_util

• Namespace std::chrono_literals

Classes and Structs

• Struct CollisionMonitor::LineSegment

• Struct Coordinates

• Struct DirectionalEdge

• Struct EdgeCost

• Struct Metadata

• Struct Node

• Struct NodeComparator

• Struct Operation

• Struct OperationResult

• Struct OperationsResult

• Struct ReroutingState

• Struct Route

• Struct RouteRequest

• Struct RouteTrackingState

• Struct SearchState

• Class Find

• Class AdjustSpeedLimit

• Class CollisionMonitor

• Class CornerArc

• Class CostmapScorer

• Class DistanceScorer

• Class DynamicEdgesScorer

• Class EdgeCostFunction

• Class EdgeScorer

• Class GeoJsonGraphFileLoader

• Class GeoJsonGraphFileSaver

• Class GoalIntentExtractor

• Class BreadthFirstSearch

• Class LoSCollisionChecker

• Class GoalOrientationScorer

• Class GraphAdaptor

• Class GraphFileLoader

• Class GraphFileSaver

• Class GraphLoader

• Class GraphSaver

• Class NodeSpatialTree

• Class OperationsManager

• Class PathConverter

• Class PenaltyScorer

• Class ReroutingService

• Class RouteOperation

• Template Class RouteOperationClient

• Class RoutePlanner

• Class RouteServer

• Class RouteTracker

• Class SemanticScorer

• Class StartPoseOrientationScorer

• Class TimeMarker

• Class TimeScorer

• Class TriggerEvent

Enums

• Enum EdgeType

• Enum OperationTrigger

• Enum RouteOperationType

• Enum TrackerResult

Functions

• Function nav2_route::utils::distance

• Function nav2_route::utils::findClosestPoint

• Function nav2_route::utils::normalizedDot

• Function nav2_route::utils::toMsg(const float, const float)

• Function nav2_route::utils::toMsg(const nav2_route::Graph&, const std::string&, const rclcpp::Time&)

• Function nav2_route::utils::toMsg(const nav2_route::Route&, const std::string&, const rclcpp::Time&)

Variables

• Variable nav2_route::DIMENSION

Typedefs

• Typedef nav2_route::EdgePtr

• Typedef nav2_route::EdgePtrVector

• Typedef nav2_route::EdgeVector

• Typedef nav2_route::Graph

• Typedef nav2_route::GraphToIDMap

• Typedef nav2_route::GraphToIncomingEdgesMap

• Typedef nav2_route::kd_tree_t

• Typedef nav2_route::NodeElement

• Typedef nav2_route::NodeExtents

• Typedef nav2_route::NodePtr

• Typedef nav2_route::NodePtrVector

• Typedef nav2_route::NodeQueue

• Typedef nav2_route::NodeVector

• Typedef nav2_route::OperationPtrs

• Typedef nav2_route::Operations

Directories

• Directory include

• Directory nav2_route

• Directory interfaces

• Directory plugins

• Directory edge_cost_functions

• Directory graph_file_loaders

• Directory graph_file_savers

• Directory route_operations

Files

• File adjust_speed_limit.hpp

• File collision_monitor.hpp

• File corner_smoothing.hpp

• File costmap_scorer.hpp

• File distance_scorer.hpp

• File dynamic_edges_scorer.hpp

• File edge_cost_function.hpp

• File edge_scorer.hpp

• File geojson_graph_file_loader.hpp

• File geojson_graph_file_saver.hpp

• File goal_intent_extractor.hpp

• File goal_intent_search.hpp

• File goal_orientation_scorer.hpp

• File graph_file_loader.hpp

• File graph_file_saver.hpp

• File graph_loader.hpp

• File graph_saver.hpp

• File node_spatial_tree.hpp

• File operations_manager.hpp

• File path_converter.hpp

• File penalty_scorer.hpp

• File rerouting_service.hpp

• File route_operation.hpp

• File route_operation_client.hpp

• File route_planner.hpp

• File route_server.hpp

• File route_tracker.hpp

• File semantic_scorer.hpp

• File start_pose_orientation_scorer.hpp

• File time_marker.hpp

• File time_scorer.hpp

• File trigger_event.hpp

• File types.hpp

• File utils.hpp