00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 00038 #ifndef ABSTRACT_LOCAL_PLANNER_ODOM_H_ 00039 #define ABSTRACT_LOCAL_PLANNER_ODOM_H_ 00040 00041 #include <nav_core/base_local_planner.h> 00042 00043 #include <boost/thread.hpp> 00044 00045 #include <costmap_2d/costmap_2d.h> 00046 #include <tf/transform_datatypes.h> 00047 #include <tf/transform_listener.h> 00048 00049 #include <base_local_planner/local_planner_limits.h> 00050 00051 00052 namespace base_local_planner { 00053 00058 class LocalPlannerUtil { 00059 00060 private: 00061 // things we get from move_base 00062 std::string name_; 00063 std::string global_frame_; 00064 00065 costmap_2d::Costmap2D* costmap_; 00066 tf::TransformListener* tf_; 00067 00068 00069 std::vector<geometry_msgs::PoseStamped> global_plan_; 00070 00071 00072 boost::mutex limits_configuration_mutex_; 00073 bool setup_; 00074 LocalPlannerLimits default_limits_; 00075 LocalPlannerLimits limits_; 00076 bool initialized_; 00077 00078 public: 00079 00083 void reconfigureCB(LocalPlannerLimits &config, bool restore_defaults); 00084 00085 LocalPlannerUtil() : initialized_(false) {} 00086 00087 ~LocalPlannerUtil() { 00088 } 00089 00090 void initialize(tf::TransformListener* tf, 00091 costmap_2d::Costmap2D* costmap, 00092 std::string global_frame); 00093 00094 bool getGoal(tf::Stamped<tf::Pose>& goal_pose); 00095 00096 bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan); 00097 00098 bool getLocalPlan(tf::Stamped<tf::Pose>& global_pose, std::vector<geometry_msgs::PoseStamped>& transformed_plan); 00099 00100 costmap_2d::Costmap2D* getCostmap(); 00101 00102 LocalPlannerLimits getCurrentLimits(); 00103 00104 std::string getGlobalFrame(){ return global_frame_; } 00105 }; 00106 00107 00108 00109 00110 }; 00111 00112 #endif /* ABSTRACT_LOCAL_PLANNER_ODOM_H_ */