#include <planner_action.h>
Inheritance diagram for mbf_abstract_nav::PlannerAction:
Public Types | |
| typedef boost::shared_ptr < PlannerAction > | Ptr |
Public Member Functions | |
| PlannerAction (const std::string &name, const RobotInformation &robot_info) | |
| void | run (GoalHandle &goal_handle, AbstractPlannerExecution &execution) |
Protected Member Functions | |
| bool | transformPlanToGlobalFrame (std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan) |
| Transforms a plan to the global frame (global_frame_) coord system. | |
Private Attributes | |
| ros::Publisher | current_goal_pub_ |
| Publisher to publish the current goal pose, which is used for path planning. | |
| unsigned int | path_seq_count_ |
| Path sequence counter. | |
Detailed Description
Definition at line 53 of file planner_action.h.
Member Typedef Documentation
| typedef boost::shared_ptr<PlannerAction> mbf_abstract_nav::PlannerAction::Ptr |
Reimplemented from mbf_abstract_nav::AbstractAction< mbf_msgs::GetPathAction, AbstractPlannerExecution >.
Definition at line 57 of file planner_action.h.
Constructor & Destructor Documentation
| mbf_abstract_nav::PlannerAction::PlannerAction | ( | const std::string & | name, |
| const RobotInformation & | robot_info | ||
| ) |
Definition at line 47 of file planner_action.cpp.
Member Function Documentation
| void mbf_abstract_nav::PlannerAction::run | ( | GoalHandle & | goal_handle, |
| AbstractPlannerExecution & | execution | ||
| ) |
Definition at line 57 of file planner_action.cpp.
| bool mbf_abstract_nav::PlannerAction::transformPlanToGlobalFrame | ( | std::vector< geometry_msgs::PoseStamped > & | plan, |
| std::vector< geometry_msgs::PoseStamped > & | global_plan | ||
| ) | [protected] |
Transforms a plan to the global frame (global_frame_) coord system.
- Parameters:
-
plan Input plan to be transformed. global_plan Output plan, which is then transformed to the global frame.
- Returns:
- true, if the transformation succeeded, false otherwise
Definition at line 268 of file planner_action.cpp.
Member Data Documentation
Publisher to publish the current goal pose, which is used for path planning.
Definition at line 81 of file planner_action.h.
unsigned int mbf_abstract_nav::PlannerAction::path_seq_count_ [private] |
Path sequence counter.
Definition at line 84 of file planner_action.h.
The documentation for this class was generated from the following files: