Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes
footstep_planner::FootstepPlanner Class Reference

A class to control the interaction between ROS and the footstep planner. More...

#include <FootstepPlanner.h>

List of all members.

Public Member Functions

void clearFootstepPathVis (unsigned num_footsteps=0)
 Clear the footstep path visualization from a previous planning task.
 FootstepPlanner ()
size_t getNumExpandedStates () const
size_t getNumFootPoses () const
state_iter_t getPathBegin () const
double getPathCosts () const
state_iter_t getPathEnd () const
int getPathSize ()
State getStartFootLeft ()
State getStartFootRight ()
void goalPoseCallback (const geometry_msgs::PoseStampedConstPtr &goal_pose)
 Callback to set the goal pose as a robot pose centered between two feet. If the start pose has been set previously the planning is started.
void mapCallback (const nav_msgs::OccupancyGridConstPtr &occupancy_map)
 Callback to set the map.
bool pathExists ()
bool plan (bool force_new_plan=true)
 Start a planning task from scratch (will delete information of previous planning tasks). Map and start, goal poses need to be set beforehand.
bool plan (const geometry_msgs::PoseStampedConstPtr start, const geometry_msgs::PoseStampedConstPtr goal)
 Sets start, goal poses and calls FootstepPlanner::plan().
bool plan (float start_x, float start_y, float start_theta, float goal_x, float goal_y, float goal_theta)
 Sets start, goal poses and calls FootstepPlanner::plan().
bool planFeetService (humanoid_nav_msgs::PlanFootstepsBetweenFeet::Request &req, humanoid_nav_msgs::PlanFootstepsBetweenFeet::Response &resp)
 Service handle to plan footsteps.
bool planService (humanoid_nav_msgs::PlanFootsteps::Request &req, humanoid_nav_msgs::PlanFootsteps::Response &resp)
 Service handle to plan footsteps.
bool replan ()
 Starts a planning task based on previous planning information (note that this method can also be used when no previous planning was performed). Map and start, goal poses need to be set beforehand.
void reset ()
 Reset the previous planning information.
void resetTotally ()
 Reset and reinitialize the environment.
bool setGoal (const State &left_foot, const State &right_foot)
 Sets the goal pose as two feet (left / right)
bool setGoal (const geometry_msgs::PoseStampedConstPtr goal_pose)
 Sets the goal pose as a robot pose centered between two feet.
bool setGoal (float x, float y, float theta)
 Sets the goal pose as a robot pose centered between two feet.
void setMarkerNamespace (const std::string &ns)
void setMaxSearchTime (int search_time)
 Set the maximal search time.
bool setStart (const geometry_msgs::PoseStampedConstPtr start_pose)
 Sets the start pose as a robot pose centered between two feet.
bool setStart (float x, float y, float theta)
 Sets the start pose as a robot pose centered between two feet.
bool setStart (const State &left_foot, const State &right_foot)
 Sets the start pose as position of left and right footsteps.
void startPoseCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &start_pose)
 Callback to set the start pose as a robot pose centered between two feet. If the goal pose has been set previously the planning is started.
bool updateMap (const gridmap_2d::GridMap2DPtr map)
 Updates the map in the planning environment.
virtual ~FootstepPlanner ()

Public Attributes

environment_params ivEnvironmentParams
 Planning parameters.

Protected Member Functions

void broadcastExpandedNodesVis ()
void broadcastFootstepPathVis ()
void broadcastHeuristicPathVis ()
void broadcastPathVis ()
void broadcastRandomNodesVis ()
void extractFootstepsSrv (std::vector< humanoid_nav_msgs::StepTarget > &footsteps) const
 helper to create service response
bool extractPath (const std::vector< int > &state_ids)
 Extracts the path (list of foot poses) from a list of state IDs calculated by the SBPL.
void footPoseToMarker (const State &footstep, visualization_msgs::Marker *marker)
 Generates a visualization msgs for a foot pose.
State getFootPose (const State &robot, Leg side)
 Returns the foot pose of a leg for a given robot pose.
bool pathIsNew (const std::vector< int > &new_path)
bool run ()
 Starts the planning task in the underlying SBPL.
void setPlanner ()
 Sets the planning algorithm used by SBPL.
void updateEnvironment (const gridmap_2d::GridMap2DPtr old_map)
 Updates the environment in case of a changed map.

Protected Attributes

int ivChangedCellsLimit
 If limit of changed cells is reached the planner starts a new task from the scratch.
int ivCollisionCheckAccuracy
ros::Publisher ivExpandedStatesVisPub
double ivFootSeparation
ros::Publisher ivFootstepPathVisPub
ros::ServiceServer ivFootstepPlanFeetService
ros::ServiceServer ivFootstepPlanService
State ivGoalFootLeft
State ivGoalFootRight
bool ivGoalPoseSetUp
ros::Subscriber ivGridMapSub
ros::Publisher ivHeuristicPathVisPub
double ivInitialEpsilon
int ivLastMarkerMsgSize
gridmap_2d::GridMap2DPtr ivMapPtr
std::string ivMarkerNamespace
double ivMaxSearchTime
double ivMaxStepWidth
std::vector< StateivPath
double ivPathCost
boost::shared_ptr< const
PathCostHeuristic
ivPathCostHeuristicPtr
ros::Publisher ivPathVisPub
boost::shared_ptr
< FootstepPlannerEnvironment
ivPlannerEnvironmentPtr
boost::shared_ptr< SBPLPlanner > ivPlannerPtr
std::string ivPlannerType
std::vector< int > ivPlanningStatesIds
ros::Publisher ivRandomStatesVisPub
bool ivSearchUntilFirstSolution
State ivStartFootLeft
State ivStartFootRight
bool ivStartPoseSetUp
ros::Publisher ivStartPoseVisPub

Detailed Description

A class to control the interaction between ROS and the footstep planner.

Definition at line 57 of file FootstepPlanner.h.


Constructor & Destructor Documentation

Definition at line 31 of file FootstepPlanner.cpp.

Definition at line 270 of file FootstepPlanner.cpp.


Member Function Documentation

Definition at line 982 of file FootstepPlanner.cpp.

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void footstep_planner::FootstepPlanner::clearFootstepPathVis ( unsigned  num_footsteps = 0)

Clear the footstep path visualization from a previous planning task.

Definition at line 956 of file FootstepPlanner.cpp.

void footstep_planner::FootstepPlanner::extractFootstepsSrv ( std::vector< humanoid_nav_msgs::StepTarget > &  footsteps) const [protected]

helper to create service response

Definition at line 595 of file FootstepPlanner.cpp.

bool footstep_planner::FootstepPlanner::extractPath ( const std::vector< int > &  state_ids) [protected]

Extracts the path (list of foot poses) from a list of state IDs calculated by the SBPL.

Definition at line 410 of file FootstepPlanner.cpp.

void footstep_planner::FootstepPlanner::footPoseToMarker ( const State footstep,
visualization_msgs::Marker *  marker 
) [protected]

Generates a visualization msgs for a foot pose.

Definition at line 1128 of file FootstepPlanner.cpp.

State footstep_planner::FootstepPlanner::getFootPose ( const State robot,
Leg  side 
) [protected]

Returns the foot pose of a leg for a given robot pose.

Definition at line 925 of file FootstepPlanner.cpp.

Returns:
Number of expanded states.

Definition at line 198 of file FootstepPlanner.h.

Returns:
Number of planned foot poses.

Definition at line 204 of file FootstepPlanner.h.

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Returns:
Costs of the planned footstep path.

Definition at line 195 of file FootstepPlanner.h.

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Returns:
Size of the planned path.

Definition at line 210 of file FootstepPlanner.h.

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void footstep_planner::FootstepPlanner::goalPoseCallback ( const geometry_msgs::PoseStampedConstPtr &  goal_pose)

Callback to set the goal pose as a robot pose centered between two feet. If the start pose has been set previously the planning is started.

Subscribed to 'goal'.

Returns:
True if the two foot poses have been set successfully.

Definition at line 622 of file FootstepPlanner.cpp.

void footstep_planner::FootstepPlanner::mapCallback ( const nav_msgs::OccupancyGridConstPtr &  occupancy_map)

Callback to set the map.

Subscribed to 'map'.

Definition at line 655 of file FootstepPlanner.cpp.

Returns:
True if for the current start and goal pose a path exists.

Definition at line 222 of file FootstepPlanner.h.

bool footstep_planner::FootstepPlanner::pathIsNew ( const std::vector< int > &  new_path) [protected]
Returns:
True if the newly calculated path is different from the existing one (if one exists).

Definition at line 942 of file FootstepPlanner.cpp.

bool footstep_planner::FootstepPlanner::plan ( bool  force_new_plan = true)

Start a planning task from scratch (will delete information of previous planning tasks). Map and start, goal poses need to be set beforehand.

Returns:
Success of planning.

Definition at line 492 of file FootstepPlanner.cpp.

bool footstep_planner::FootstepPlanner::plan ( const geometry_msgs::PoseStampedConstPtr  start,
const geometry_msgs::PoseStampedConstPtr  goal 
)

Sets start, goal poses and calls FootstepPlanner::plan().

Definition at line 524 of file FootstepPlanner.cpp.

bool footstep_planner::FootstepPlanner::plan ( float  start_x,
float  start_y,
float  start_theta,
float  goal_x,
float  goal_y,
float  goal_theta 
)

Sets start, goal poses and calls FootstepPlanner::plan().

Definition at line 535 of file FootstepPlanner.cpp.

bool footstep_planner::FootstepPlanner::planFeetService ( humanoid_nav_msgs::PlanFootstepsBetweenFeet::Request &  req,
humanoid_nav_msgs::PlanFootstepsBetweenFeet::Response &  resp 
)

Service handle to plan footsteps.

Definition at line 570 of file FootstepPlanner.cpp.

bool footstep_planner::FootstepPlanner::planService ( humanoid_nav_msgs::PlanFootsteps::Request &  req,
humanoid_nav_msgs::PlanFootsteps::Response &  resp 
)

Service handle to plan footsteps.

Definition at line 549 of file FootstepPlanner.cpp.

Starts a planning task based on previous planning information (note that this method can also be used when no previous planning was performed). Map and start, goal poses need to be set beforehand.

Returns:
Success of planning.

Definition at line 517 of file FootstepPlanner.cpp.

Reset the previous planning information.

Definition at line 461 of file FootstepPlanner.cpp.

Reset and reinitialize the environment.

Definition at line 478 of file FootstepPlanner.cpp.

Starts the planning task in the underlying SBPL.

NOTE: Never call this directly. Always use either plan() or replan() to invoke this method.

Definition at line 306 of file FootstepPlanner.cpp.

bool footstep_planner::FootstepPlanner::setGoal ( const State left_foot,
const State right_foot 
)

Sets the goal pose as two feet (left / right)

Returns:
True if the two foot poses have been set successfully.

Definition at line 709 of file FootstepPlanner.cpp.

bool footstep_planner::FootstepPlanner::setGoal ( const geometry_msgs::PoseStampedConstPtr  goal_pose)

Sets the goal pose as a robot pose centered between two feet.

Returns:
True if the two foot poses have been set successfully.

Definition at line 671 of file FootstepPlanner.cpp.

bool footstep_planner::FootstepPlanner::setGoal ( float  x,
float  y,
float  theta 
)

Sets the goal pose as a robot pose centered between two feet.

Returns:
True if the two foot poses have been set successfully.

Definition at line 680 of file FootstepPlanner.cpp.

void footstep_planner::FootstepPlanner::setMarkerNamespace ( const std::string &  ns) [inline]

Definition at line 147 of file FootstepPlanner.h.

void footstep_planner::FootstepPlanner::setMaxSearchTime ( int  search_time) [inline]

Set the maximal search time.

Definition at line 153 of file FootstepPlanner.h.

Sets the planning algorithm used by SBPL.

Definition at line 275 of file FootstepPlanner.cpp.

bool footstep_planner::FootstepPlanner::setStart ( const geometry_msgs::PoseStampedConstPtr  start_pose)

Sets the start pose as a robot pose centered between two feet.

Returns:
True if the two foot poses have been set successfully.

Definition at line 727 of file FootstepPlanner.cpp.

bool footstep_planner::FootstepPlanner::setStart ( float  x,
float  y,
float  theta 
)

Sets the start pose as a robot pose centered between two feet.

Returns:
True if the two foot poses have been set successfully.

Definition at line 754 of file FootstepPlanner.cpp.

bool footstep_planner::FootstepPlanner::setStart ( const State left_foot,
const State right_foot 
)

Sets the start pose as position of left and right footsteps.

Returns:
True if the two foot poses have been set successfully.

Definition at line 736 of file FootstepPlanner.cpp.

void footstep_planner::FootstepPlanner::startPoseCallback ( const geometry_msgs::PoseWithCovarianceStampedConstPtr &  start_pose)

Callback to set the start pose as a robot pose centered between two feet. If the goal pose has been set previously the planning is started.

Subscribed to 'initialpose'.

Returns:
True if the two foot poses have been set successfully.

Definition at line 638 of file FootstepPlanner.cpp.

Updates the environment in case of a changed map.

Definition at line 809 of file FootstepPlanner.cpp.

Updates the map in the planning environment.

Returns:
True if a replanning is necessary, i.e. the old path is not valid any more.

Definition at line 787 of file FootstepPlanner.cpp.


Member Data Documentation

If limit of changed cells is reached the planner starts a new task from the scratch.

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Planning parameters.

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boost::shared_ptr<SBPLPlanner> footstep_planner::FootstepPlanner::ivPlannerPtr [protected]

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


footstep_planner
Author(s): Johannes Garimort, Armin Hornung
autogenerated on Sat Jun 8 2019 20:21:05