Public Member Functions | Protected Attributes | Private Member Functions | Private Attributes
global_planner::GlobalPlanner Class Reference

#include <planner_core.h>

Inheritance diagram for global_planner::GlobalPlanner:
Inheritance graph
[legend]

List of all members.

Public Member Functions

bool computePotential (const geometry_msgs::Point &world_point)
 Computes the full navigation function for the map given a point in the world to start from.
bool getPlanFromPotential (double start_x, double start_y, double end_x, double end_y, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
 Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first)
double getPointPotential (const geometry_msgs::Point &world_point)
 Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first)
 GlobalPlanner ()
 Default constructor for the PlannerCore object.
 GlobalPlanner (std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)
 Constructor for the PlannerCore object.
void initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
 Initialization function for the PlannerCore object.
void initialize (std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)
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.
bool makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan)
 Given a goal pose in the world, compute a plan.
bool makePlanService (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp)
void publishPlan (const std::vector< geometry_msgs::PoseStamped > &path)
 Publish a path for visualization purposes.
bool validPointPotential (const geometry_msgs::Point &world_point)
 Check for a valid potential value at a given point in the world (Note: You should call computePotential first)
bool validPointPotential (const geometry_msgs::Point &world_point, double tolerance)
 Check for a valid potential value at a given point in the world (Note: You should call computePotential first)
 ~GlobalPlanner ()
 Default deconstructor for the PlannerCore object.

Protected Attributes

bool allow_unknown_
costmap_2d::Costmap2Dcostmap_
 Store a copy of the current costmap in costmap. Called by makePlan.
std::string frame_id_
bool initialized_
ros::Publisher plan_pub_
bool visualize_potential_

Private Member Functions

void clearRobotCell (const tf::Stamped< tf::Pose > &global_pose, unsigned int mx, unsigned int my)
void mapToWorld (double mx, double my, double &wx, double &wy)
void outlineMap (unsigned char *costarr, int nx, int ny, unsigned char value)
void publishPotential (float *potential)
void reconfigureCB (global_planner::GlobalPlannerConfig &config, uint32_t level)
bool worldToMap (double wx, double wy, double &mx, double &my)

Private Attributes

float convert_offset_
unsigned char * cost_array_
double default_tolerance_
dynamic_reconfigure::Server
< global_planner::GlobalPlannerConfig > * 
dsrv_
unsigned int end_x_
unsigned int end_y_
ros::ServiceServer make_plan_srv_
boost::mutex mutex_
bool old_navfn_behavior_
OrientationFilterorientation_filter_
PotentialCalculatorp_calc_
Tracebackpath_maker_
Expanderplanner_
double planner_window_x_
double planner_window_y_
float * potential_array_
ros::Publisher potential_pub_
bool publish_potential_
int publish_scale_
unsigned int start_x_
unsigned int start_y_
std::string tf_prefix_

Detailed Description

Definition at line 67 of file planner_core.h.


Constructor & Destructor Documentation

Default constructor for the PlannerCore object.

Definition at line 70 of file planner_core.cpp.

global_planner::GlobalPlanner::GlobalPlanner ( std::string  name,
costmap_2d::Costmap2D costmap,
std::string  frame_id 
)

Constructor for the PlannerCore object.

Parameters:
nameThe name of this planner
costmapA pointer to the costmap to use
frame_idFrame of the costmap

Definition at line 74 of file planner_core.cpp.

Default deconstructor for the PlannerCore object.

Definition at line 80 of file planner_core.cpp.


Member Function Documentation

void global_planner::GlobalPlanner::clearRobotCell ( const tf::Stamped< tf::Pose > &  global_pose,
unsigned int  mx,
unsigned int  my 
) [private]

Definition at line 176 of file planner_core.cpp.

Computes the full navigation function for the map given a point in the world to start from.

Parameters:
world_pointThe point to use for seeding the navigation function
Returns:
True if the navigation function was computed successfully, false otherwise
bool global_planner::GlobalPlanner::getPlanFromPotential ( double  start_x,
double  start_y,
double  end_x,
double  end_y,
const geometry_msgs::PoseStamped &  goal,
std::vector< geometry_msgs::PoseStamped > &  plan 
)

Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first)

Parameters:
start_x
start_y
end_x
end_y
goalThe goal pose to create a plan to
planThe plan... filled by the planner
Returns:
True if a valid plan was found, false otherwise

Definition at line 353 of file planner_core.cpp.

Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first)

Parameters:
world_pointThe point to get the potential for
Returns:
The navigation function's value at that point in the world
void global_planner::GlobalPlanner::initialize ( std::string  name,
costmap_2d::Costmap2DROS costmap_ros 
) [virtual]

Initialization function for the PlannerCore object.

Parameters:
nameThe name of this planner
costmap_rosA pointer to the ROS wrapper of the costmap to use for planning

Implements nav_core::BaseGlobalPlanner.

Definition at line 91 of file planner_core.cpp.

void global_planner::GlobalPlanner::initialize ( std::string  name,
costmap_2d::Costmap2D costmap,
std::string  frame_id 
)

Definition at line 95 of file planner_core.cpp.

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

Given a goal pose in the world, compute a plan.

Parameters:
startThe start pose
goalThe goal pose
planThe plan... filled by the planner
Returns:
True if a valid plan was found, false otherwise

Implements nav_core::BaseGlobalPlanner.

Definition at line 217 of file planner_core.cpp.

bool global_planner::GlobalPlanner::makePlan ( const geometry_msgs::PoseStamped &  start,
const geometry_msgs::PoseStamped &  goal,
double  tolerance,
std::vector< geometry_msgs::PoseStamped > &  plan 
)

Given a goal pose in the world, compute a plan.

Parameters:
startThe start pose
goalThe goal pose
toleranceThe tolerance on the goal point for the planner
planThe plan... filled by the planner
Returns:
True if a valid plan was found, false otherwise

Definition at line 222 of file planner_core.cpp.

bool global_planner::GlobalPlanner::makePlanService ( nav_msgs::GetPlan::Request &  req,
nav_msgs::GetPlan::Response &  resp 
)

Definition at line 187 of file planner_core.cpp.

void global_planner::GlobalPlanner::mapToWorld ( double  mx,
double  my,
double &  wx,
double &  wy 
) [private]

Definition at line 196 of file planner_core.cpp.

void global_planner::GlobalPlanner::outlineMap ( unsigned char *  costarr,
int  nx,
int  ny,
unsigned char  value 
) [private]

Definition at line 55 of file planner_core.cpp.

void global_planner::GlobalPlanner::publishPlan ( const std::vector< geometry_msgs::PoseStamped > &  path)

Publish a path for visualization purposes.

Definition at line 329 of file planner_core.cpp.

void global_planner::GlobalPlanner::publishPotential ( float *  potential) [private]

Definition at line 399 of file planner_core.cpp.

void global_planner::GlobalPlanner::reconfigureCB ( global_planner::GlobalPlannerConfig &  config,
uint32_t  level 
) [private]

Definition at line 167 of file planner_core.cpp.

Check for a valid potential value at a given point in the world (Note: You should call computePotential first)

Parameters:
world_pointThe point to get the potential for
Returns:
True if the navigation function is valid at that point in the world, false otherwise
bool global_planner::GlobalPlanner::validPointPotential ( const geometry_msgs::Point world_point,
double  tolerance 
)

Check for a valid potential value at a given point in the world (Note: You should call computePotential first)

Parameters:
world_pointThe point to get the potential for
toleranceThe tolerance on searching around the world_point specified
Returns:
True if the navigation function is valid at that point in the world, false otherwise
bool global_planner::GlobalPlanner::worldToMap ( double  wx,
double  wy,
double &  mx,
double &  my 
) [private]

Definition at line 201 of file planner_core.cpp.


Member Data Documentation

Definition at line 175 of file planner_core.h.

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Definition at line 198 of file planner_core.h.

Store a copy of the current costmap in costmap. Called by makePlan.

Definition at line 172 of file planner_core.h.

Definition at line 183 of file planner_core.h.

dynamic_reconfigure::Server<global_planner::GlobalPlannerConfig>* global_planner::GlobalPlanner::dsrv_ [private]

Definition at line 205 of file planner_core.h.

unsigned int global_planner::GlobalPlanner::end_x_ [private]

Definition at line 200 of file planner_core.h.

unsigned int global_planner::GlobalPlanner::end_y_ [private]

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boost::mutex global_planner::GlobalPlanner::mutex_ [private]

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


global_planner
Author(s): David Lu!!
autogenerated on Sun Mar 3 2019 03:46:53