Plugin interface for using the potential to trace a path from the start position back to the goal position. More...

#include <traceback.h>

Public Member Functions
virtual nav_2d_msgs::Path2D	getPath (const PotentialGrid &potential_grid, const geometry_msgs::Pose2D &start, const geometry_msgs::Pose2D &goal, double &path_cost)=0
	Create the path from start to goal.
virtual void	initialize (ros::NodeHandle &private_nh, CostInterpreter::Ptr cost_interpreter)
	Initialize function.
	Traceback ()
virtual	~Traceback ()
Protected Member Functions
nav_2d_msgs::Path2D	mapPathToWorldPath (const nav_2d_msgs::Path2D &original, const nav_grid::NavGridInfo &info)
	Helper function to convert a path in Grid coordinates to World coordinates.
Protected Attributes
CostInterpreter::Ptr	cost_interpreter_

Detailed Description

Plugin interface for using the potential to trace a path from the start position back to the goal position.

See README for more details

Definition at line 52 of file traceback.h.

Constructor & Destructor Documentation

dlux_global_planner::Traceback::Traceback ( ) [inline]

Definition at line 55 of file traceback.h.

virtual dlux_global_planner::Traceback::~Traceback ( ) [virtual]

virtual nav_2d_msgs::Path2D dlux_global_planner::Traceback::getPath	(	const PotentialGrid &	potential_grid,
		const geometry_msgs::Pose2D &	start,
		const geometry_msgs::Pose2D &	goal,
		double &	path_cost
	)		`[pure virtual]`

Create the path from start to goal.

Parameters:

potential_grid[in]	potential grid
start[in]	start pose
goal[in]	goal pose
path_cost[out]	A number representing the cost of taking this path. Open to intepretation.

virtual void dlux_global_planner::Traceback::initialize	(	ros::NodeHandle &	private_nh,
		CostInterpreter::Ptr	cost_interpreter
	)		`[inline, virtual]`

Initialize function.

Can be overridden to grab parameters

Parameters:

private_nh	NodeHandle to read parameters from
cost_interpreter	CostInterpreter pointer

Definition at line 66 of file traceback.h.

nav_2d_msgs::Path2D dlux_global_planner::Traceback::mapPathToWorldPath	(	const nav_2d_msgs::Path2D &	original,
		const nav_grid::NavGridInfo &	info
	)		`[inline, protected]`

Helper function to convert a path in Grid coordinates to World coordinates.

Does not use nav_grid::gridToWorld because that takes integer inputs, whereas the input path can be located anywhere within the grid cell.

Definition at line 88 of file traceback.h.

Definition at line 100 of file traceback.h.

The documentation for this class was generated from the following file: