Provides a simple global planner that will compute a valid goal point for the local planner by walking back along the vector between the robot and the user-specified goal point until a valid cost is found. More...

#include <carrot_planner.h>

Inheritance diagram for carrot_planner::CarrotPlanner:

[legend]

List of all members.

Public Member Functions
	CarrotPlanner ()
	Constructor for the CarrotPlanner.
	CarrotPlanner (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Constructor for the CarrotPlanner.
void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the CarrotPlanner.
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.
Private Member Functions
double	footprintCost (double x_i, double y_i, double theta_i)
	Checks the legality of the robot footprint at a position and orientation using the world model.
Private Attributes
costmap_2d::Costmap2D *	costmap_
costmap_2d::Costmap2DROS *	costmap_ros_
bool	initialized_
double	min_dist_from_robot_
double	step_size_
base_local_planner::WorldModel *	world_model_
	The world model that the controller will use.

Detailed Description

Provides a simple global planner that will compute a valid goal point for the local planner by walking back along the vector between the robot and the user-specified goal point until a valid cost is found.

Definition at line 58 of file carrot_planner.h.

Constructor & Destructor Documentation

carrot_planner::CarrotPlanner::CarrotPlanner ( )

Constructor for the CarrotPlanner.

Definition at line 45 of file carrot_planner.cpp.

carrot_planner::CarrotPlanner::CarrotPlanner	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructor for the CarrotPlanner.

Parameters:

name	The name of this planner
costmap_ros	A pointer to the ROS wrapper of the costmap to use for planning

Definition at line 48 of file carrot_planner.cpp.

Member Function Documentation

double carrot_planner::CarrotPlanner::footprintCost	(	double	x_i,
		double	y_i,
		double	theta_i
	)		`[private]`

Checks the legality of the robot footprint at a position and orientation using the world model.

Parameters:

x_i	The x position of the robot
y_i	The y position of the robot
theta_i	The orientation of the robot

Returns:

Definition at line 70 of file carrot_planner.cpp.

void carrot_planner::CarrotPlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		`[virtual]`

Initialization function for the CarrotPlanner.

Parameters:

name	The name of this planner
costmap_ros	A pointer to the ROS wrapper of the costmap to use for planning

Implements nav_core::BaseGlobalPlanner.

Definition at line 53 of file carrot_planner.cpp.

bool carrot_planner::CarrotPlanner::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)		`[virtual]`