Plugin-based global wavefront planner that conforms to the `nav_core2` GlobalPlanner interface. More...

#include <dlux_global_planner.h>

Inheritance diagram for dlux_global_planner::DluxGlobalPlanner:

Public Member Functions
	DluxGlobalPlanner ()
void	initialize (const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override
virtual bool	isPlanValid (const nav_2d_msgs::Path2D &path) const
	Check the costmap for any obstacles on this path.
nav_2d_msgs::Path2D	makePlan (const nav_2d_msgs::Pose2DStamped &start, const nav_2d_msgs::Pose2DStamped &goal) override
Protected Member Functions
virtual bool	hasValidCachedPath (const geometry_msgs::Pose2D &local_goal, unsigned int goal_x, unsigned int goal_y)
	Check whether there is a valid cached path where the goal hasn't changed.
virtual bool	shouldReturnCachedPathImmediately () const
	Whether the planner should always return a valid cached path without running the planning algorithm.
virtual bool	shouldReturnNewPath (const nav_2d_msgs::Path2D &new_path, const double new_path_cost) const
	Given a cached path is available and a new path, should the new path be the one returned?
Protected Attributes
unsigned int	cached_goal_x_
unsigned int	cached_goal_y_
nav_2d_msgs::Path2D	cached_path_
double	cached_path_cost_
pluginlib::ClassLoader < PotentialCalculator >	calc_loader_
boost::shared_ptr < PotentialCalculator >	calculator_
CostInterpreter::Ptr	cost_interpreter_
nav_core2::Costmap::Ptr	costmap_
double	improvement_threshold_
bool	path_caching_
PotentialGrid	potential_grid_
nav_grid_pub_sub::ScaleGridPublisher < float >	potential_pub_
bool	print_statistics_
TFListenerPtr	tf_
boost::shared_ptr< Traceback >	traceback_
pluginlib::ClassLoader< Traceback >	traceback_loader_

Detailed Description

Plugin-based global wavefront planner that conforms to the `nav_core2` GlobalPlanner interface.

Definition at line 55 of file dlux_global_planner.h.

Constructor & Destructor Documentation

dlux_global_planner::DluxGlobalPlanner::DluxGlobalPlanner ( )

Definition at line 45 of file dlux_global_planner.cpp.

Member Function Documentation

bool dlux_global_planner::DluxGlobalPlanner::hasValidCachedPath	(	const geometry_msgs::Pose2D &	local_goal,
		unsigned int	goal_x,
		unsigned int	goal_y
	)		`[protected, virtual]`

Check whether there is a valid cached path where the goal hasn't changed.

The precise goal and the grid coordinates of the goal are passed (redundantly) so the implementing method can decide what precision to require for the goal to be the same. The default implementation uses the grid coords.

Also sets the cached goal data member(s)

Parameters:

local_goal	Precise (floating point) goal
goal_x	x coordinate of the goal in the grid
goal_y	y coordinate of the goal in the grid

Returns:: True if a path has been cached, the goal is the same as the cached paths, and the plan is valid

Definition at line 169 of file dlux_global_planner.cpp.

void dlux_global_planner::DluxGlobalPlanner::initialize	(	const ros::NodeHandle &	parent,
		const std::string &	name,
		TFListenerPtr	tf,
		nav_core2::Costmap::Ptr	costmap
	)		`[override]`

Definition at line 52 of file dlux_global_planner.cpp.

bool dlux_global_planner::DluxGlobalPlanner::isPlanValid ( const nav_2d_msgs::Path2D & path ) const [virtual]

Check the costmap for any obstacles on this path.

Parameters:

path	Path to check

Returns:: True if there are no obstacles

Definition at line 85 of file dlux_global_planner.cpp.

nav_2d_msgs::Path2D dlux_global_planner::DluxGlobalPlanner::makePlan	(	const nav_2d_msgs::Pose2DStamped &	start,
		const nav_2d_msgs::Pose2DStamped &	goal
	)		`[override, virtual]`

Implements nav_core2::GlobalPlanner.

Definition at line 101 of file dlux_global_planner.cpp.

bool dlux_global_planner::DluxGlobalPlanner::shouldReturnCachedPathImmediately ( ) const [protected, virtual]

Whether the planner should always return a valid cached path without running the planning algorithm.

Returns:: True if the valid cached path should be returned without running the planning algorithm

Definition at line 179 of file dlux_global_planner.cpp.

bool dlux_global_planner::DluxGlobalPlanner::shouldReturnNewPath	(	const nav_2d_msgs::Path2D &	new_path,
		const double	new_path_cost
	)		const `[protected, virtual]`