Provides an interface for global planners used in navigation. All global planners written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_core-based plugins, providing backward compatibility. More...
#include <costmap_planner.h>
Public Types | |
typedef boost::shared_ptr < ::mbf_costmap_core::CostmapPlanner > | Ptr |
Public Member Functions | |
virtual bool | cancel ()=0 |
Requests the planner to cancel, e.g. if it takes too much time. | |
virtual void | initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)=0 |
Initialization function for the CostmapPlanner. | |
virtual uint32_t | makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan, double &cost, std::string &message)=0 |
Given a goal pose in the world, compute a plan. | |
virtual | ~CostmapPlanner () |
Virtual destructor for the interface. | |
Protected Member Functions | |
CostmapPlanner () |
Provides an interface for global planners used in navigation. All global planners written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_core-based plugins, providing backward compatibility.
Definition at line 52 of file costmap_planner.h.
typedef boost::shared_ptr< ::mbf_costmap_core::CostmapPlanner > mbf_costmap_core::CostmapPlanner::Ptr |
Reimplemented from mbf_abstract_core::AbstractPlanner.
Definition at line 55 of file costmap_planner.h.
virtual mbf_costmap_core::CostmapPlanner::~CostmapPlanner | ( | ) | [inline, virtual] |
Virtual destructor for the interface.
Definition at line 103 of file costmap_planner.h.
mbf_costmap_core::CostmapPlanner::CostmapPlanner | ( | ) | [inline, protected] |
Definition at line 106 of file costmap_planner.h.
virtual bool mbf_costmap_core::CostmapPlanner::cancel | ( | ) | [pure virtual] |
Requests the planner to cancel, e.g. if it takes too much time.
Implements mbf_abstract_core::AbstractPlanner.
virtual void mbf_costmap_core::CostmapPlanner::initialize | ( | std::string | name, |
costmap_2d::Costmap2DROS * | costmap_ros | ||
) | [pure virtual] |
Initialization function for the CostmapPlanner.
name | The name of this planner |
costmap_ros | A pointer to the ROS wrapper of the costmap to use for planning |
virtual uint32_t mbf_costmap_core::CostmapPlanner::makePlan | ( | const geometry_msgs::PoseStamped & | start, |
const geometry_msgs::PoseStamped & | goal, | ||
double | tolerance, | ||
std::vector< geometry_msgs::PoseStamped > & | plan, | ||
double & | cost, | ||
std::string & | message | ||
) | [pure virtual] |
Given a goal pose in the world, compute a plan.
start | The start pose |
goal | The goal pose |
tolerance | If the goal is obstructed, how many meters the planner can relax the constraint in x and y before failing |
plan | The plan... filled by the planner |
cost | The cost for the the plan |
message | Optional more detailed outcome as a string |
Implements mbf_abstract_core::AbstractPlanner.