#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>
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Namespaces | |
| namespace | base_local_planner |
Functions | |
| double | base_local_planner::getGoalOrientationAngleDifference (const tf::Stamped< tf::Pose > &global_pose, double goal_th) |
| return angle difference to goal to check if the goal orientation has been achieved | |
| bool | base_local_planner::getGoalPose (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const std::string &global_frame, tf::Stamped< tf::Pose > &goal_pose) |
| Returns last pose in plan. | |
| double | base_local_planner::getGoalPositionDistance (const tf::Stamped< tf::Pose > &global_pose, double goal_x, double goal_y) |
| return squared distance to 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::Costmap2D &costmap, const std::string &global_frame, tf::Stamped< tf::Pose > &global_pose, 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) |
| 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 tf::Stamped< tf::Pose > &global_robot_pose, const costmap_2d::Costmap2D &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 frame of the costmap, selects only the (first) part of the plan that is within the costmap area. | |