Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
jsk_footstep_planner::GridPathPlanner Class Reference

Actionlib server for footstep planning. More...

#include <grid_path_planner.h>

List of all members.

Public Types

typedef PerceptionGridGraph Graph
typedef PerceptionGridMap GridMap
typedef GridAStarSolver
< PerceptionGridGraph
Solver

Public Member Functions

 GridPathPlanner (ros::NodeHandle &nh)

Protected Member Functions

virtual void buildGraph ()
virtual bool collisionBoundingBoxInfoService (jsk_footstep_planner::CollisionBoundingBoxInfo::Request &req, jsk_footstep_planner::CollisionBoundingBoxInfo::Response &res)
virtual void gridToPoint (const int ix, const int iy, Eigen::Vector3f &p)
double heuristicDistance (SolverNode< PerceptionGridGraph::State, PerceptionGridGraph >::Ptr node, PerceptionGridGraph::Ptr graph)
virtual void obstacleCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual void planCB (const jsk_footstep_msgs::PlanFootstepsGoal::ConstPtr &goal)
virtual void pointcloudCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual void pointToGrid (const Eigen::Vector3f &p, int &ix, int &iy)
virtual void publishMarker ()
virtual void publishPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, ros::Publisher &pub, const std_msgs::Header &header)
virtual void publishText (ros::Publisher &pub, const std::string &text, GridPlanningStatus status)
virtual bool updateCost (GridState::Ptr ptr)

Protected Attributes

actionlib::SimpleActionServer
< jsk_footstep_msgs::PlanFootstepsAction > 
as_
Eigen::Affine3f collision_bbox_offset_
Eigen::Vector3f collision_bbox_size_
double collision_circle_max_height_
double collision_circle_min_height_
double collision_circle_radius_
PerceptionGridGraph::Ptr graph_
PerceptionGridMap::Ptr gridmap_
Eigen::Vector3f map_offset_
double map_resolution_
boost::mutex mutex_
pcl::PointCloud< pcl::PointXYZ >
::Ptr 
obstacle_points_
std::string obstacle_points_frame_id_
pcl::KdTreeFLANN
< pcl::PointXYZ >::Ptr 
obstacle_tree_
pcl::PointCloud
< pcl::PointNormal >::Ptr 
plane_points_
std::string plane_points_frame_id_
pcl::KdTreeFLANN
< pcl::PointNormal >::Ptr 
plane_tree_
ros::Publisher pub_close_list_
ros::Publisher pub_marker_
ros::Publisher pub_open_list_
ros::Publisher pub_text_
jsk_footstep_msgs::PlanFootstepsResult result_
ros::ServiceServer srv_collision_bounding_box_info_
ros::Subscriber sub_obstacle_points_
ros::Subscriber sub_plane_points_
bool use_obstacle_points_
bool use_plane_points_

Detailed Description

Actionlib server for footstep planning.

Definition at line 37 of file grid_path_planner.h.


Member Typedef Documentation

Definition at line 40 of file grid_path_planner.h.

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Definition at line 42 of file grid_path_planner.h.


Constructor & Destructor Documentation

Definition at line 15 of file grid_path_planner.cpp.


Member Function Documentation

Definition at line 55 of file grid_path_planner.cpp.

bool jsk_footstep_planner::GridPathPlanner::collisionBoundingBoxInfoService ( jsk_footstep_planner::CollisionBoundingBoxInfo::Request &  req,
jsk_footstep_planner::CollisionBoundingBoxInfo::Response &  res 
) [protected, virtual]

Definition at line 100 of file grid_path_planner.cpp.

virtual void jsk_footstep_planner::GridPathPlanner::gridToPoint ( const int  ix,
const int  iy,
Eigen::Vector3f &  p 
) [inline, protected, virtual]

Definition at line 75 of file grid_path_planner.h.

Definition at line 89 of file grid_path_planner.h.

void jsk_footstep_planner::GridPathPlanner::obstacleCallback ( const sensor_msgs::PointCloud2::ConstPtr &  msg) [protected, virtual]

Definition at line 80 of file grid_path_planner.cpp.

void jsk_footstep_planner::GridPathPlanner::planCB ( const jsk_footstep_msgs::PlanFootstepsGoal::ConstPtr &  goal) [protected, virtual]

Definition at line 153 of file grid_path_planner.cpp.

void jsk_footstep_planner::GridPathPlanner::pointcloudCallback ( const sensor_msgs::PointCloud2::ConstPtr &  msg) [protected, virtual]

Definition at line 90 of file grid_path_planner.cpp.

virtual void jsk_footstep_planner::GridPathPlanner::pointToGrid ( const Eigen::Vector3f &  p,
int &  ix,
int &  iy 
) [inline, protected, virtual]

Definition at line 81 of file grid_path_planner.h.

Definition at line 393 of file grid_path_planner.cpp.

void jsk_footstep_planner::GridPathPlanner::publishPointCloud ( const pcl::PointCloud< pcl::PointXYZRGB > &  cloud,
ros::Publisher pub,
const std_msgs::Header header 
) [protected, virtual]

Definition at line 325 of file grid_path_planner.cpp.

void jsk_footstep_planner::GridPathPlanner::publishText ( ros::Publisher pub,
const std::string text,
GridPlanningStatus  status 
) [protected, virtual]

Definition at line 112 of file grid_path_planner.cpp.

Definition at line 336 of file grid_path_planner.cpp.


Member Data Documentation

actionlib::SimpleActionServer<jsk_footstep_msgs::PlanFootstepsAction> jsk_footstep_planner::GridPathPlanner::as_ [protected]

Definition at line 101 of file grid_path_planner.h.

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pcl::KdTreeFLANN<pcl::PointXYZ>::Ptr jsk_footstep_planner::GridPathPlanner::obstacle_tree_ [protected]

Definition at line 117 of file grid_path_planner.h.

Definition at line 114 of file grid_path_planner.h.

Definition at line 119 of file grid_path_planner.h.

pcl::KdTreeFLANN<pcl::PointNormal>::Ptr jsk_footstep_planner::GridPathPlanner::plane_tree_ [protected]

Definition at line 116 of file grid_path_planner.h.

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jsk_footstep_msgs::PlanFootstepsResult jsk_footstep_planner::GridPathPlanner::result_ [protected]

Definition at line 102 of file grid_path_planner.h.

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


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Fri Apr 19 2019 03:45:28