dwb_local_planner Namespace Reference

Classes
class	DebugDWBLocalPlanner
	A version of DWBLocalPlanner with ROS services for the major components. More...
class	DWBLocalPlanner
	Plugin-based flexible local_planner. More...
class	DWBPublisher
	Consolidation of all the publishing logic for the DWB Local Planner. More...
class	GoalChecker
	Function-object for checking whether a goal has been reached. More...
class	IllegalTrajectoryTracker
class	NoLegalTrajectoriesException
	Thrown when all the trajectories explored are illegal. More...
class	TrajectoryCritic
	Evaluates a Trajectory2D to produce a score. More...
class	TrajectoryGenerator
	Interface for iterating through possible velocities and creating trajectories. More...
Functions
std::string	getBackwardsCompatibleDefaultGenerator (const ros::NodeHandle &nh)
const geometry_msgs::Pose2D &	getClosestPose (const dwb_msgs::Trajectory2D &trajectory, const double time_offset)
	Helper function to find a pose in the trajectory with a particular time time_offset.
double	getSquareDistance (const geometry_msgs::Pose2D &pose_a, const geometry_msgs::Pose2D &pose_b)
void	loadBackwardsCompatibleParameters (const ros::NodeHandle &nh)
	Load parameters to emulate dwa_local_planner.
geometry_msgs::Pose2D	projectPose (const dwb_msgs::Trajectory2D &trajectory, const double time_offset)
	Helper function to create a pose with an exact time_offset by linearly interpolating between existing poses.

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Function Documentation

std::string dwb_local_planner::getBackwardsCompatibleDefaultGenerator

(

const ros::NodeHandle &

nh

)

Definition at line 44 of file backwards_compatibility.cpp.

const geometry_msgs::Pose2D & dwb_local_planner::getClosestPose	(	const dwb_msgs::Trajectory2D &	trajectory,
		const double	time_offset
	)

Helper function to find a pose in the trajectory with a particular time time_offset.

Parameters:

trajectory	The trajectory to search
time_offset	The desired time_offset

Returns:

reference to the pose that is closest to the particular time offset

Linearly searches through the poses. Once the poses time_offset is greater than the desired time_offset, the search ends, since the poses have increasing time_offsets.

Definition at line 40 of file trajectory_utils.cpp.

double dwb_local_planner::getSquareDistance	(	const geometry_msgs::Pose2D &	pose_a,
		const geometry_msgs::Pose2D &	pose_b
	)

Definition at line 382 of file dwb_local_planner.cpp.

void dwb_local_planner::loadBackwardsCompatibleParameters

(

const ros::NodeHandle &

nh

)

Load parameters to emulate dwa_local_planner.

If no critic parameters are specified, this function should be called to load/move parameters that will emulate the behavior of dwa_local_planner

Parameters:

nh	NodeHandle to load parameters from

Definition at line 58 of file backwards_compatibility.cpp.

geometry_msgs::Pose2D dwb_local_planner::projectPose	(	const dwb_msgs::Trajectory2D &	trajectory,
		const double	time_offset
	)

Helper function to create a pose with an exact time_offset by linearly interpolating between existing poses.

Parameters:

trajectory	The trajectory with pose and time offset information
time_offset	The desired time_offset

Returns:

New Pose2D with interpolated values

Note:

If the given time offset is outside the bounds of the trajectory, the return pose will be either the first or last pose.

Definition at line 66 of file trajectory_utils.cpp.