Provides an interface for recovery behaviors used in navigation. All recovery behaviors written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_corebased plugins, providing backward compatibility. More...
#include <costmap_recovery.h>
Public Types | |
typedef boost::shared_ptr < ::mbf_costmap_core::CostmapRecovery > | 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, TF *tf, costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap)=0 |
Initialization function for the CostmapRecovery. | |
virtual uint32_t | runBehavior (std::string &message)=0 |
Runs the CostmapRecovery. | |
virtual | ~CostmapRecovery () |
Virtual destructor for the interface. | |
Protected Member Functions | |
CostmapRecovery () |
Provides an interface for recovery behaviors used in navigation. All recovery behaviors written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_corebased plugins, providing backward compatibility.
Definition at line 54 of file costmap_recovery.h.
typedef boost::shared_ptr< ::mbf_costmap_core::CostmapRecovery> mbf_costmap_core::CostmapRecovery::Ptr |
Reimplemented from mbf_abstract_core::AbstractRecovery.
Definition at line 57 of file costmap_recovery.h.
virtual mbf_costmap_core::CostmapRecovery::~CostmapRecovery | ( | ) | [inline, virtual] |
Virtual destructor for the interface.
Definition at line 86 of file costmap_recovery.h.
mbf_costmap_core::CostmapRecovery::CostmapRecovery | ( | ) | [inline, protected] |
Definition at line 89 of file costmap_recovery.h.
virtual bool mbf_costmap_core::CostmapRecovery::cancel | ( | ) | [pure virtual] |
Requests the planner to cancel, e.g. if it takes too much time.
Implements mbf_abstract_core::AbstractRecovery.
virtual void mbf_costmap_core::CostmapRecovery::initialize | ( | std::string | name, |
TF * | tf, | ||
costmap_2d::Costmap2DROS * | global_costmap, | ||
costmap_2d::Costmap2DROS * | local_costmap | ||
) | [pure virtual] |
Initialization function for the CostmapRecovery.
tf | A pointer to a transform listener |
global_costmap | A pointer to the global_costmap used by the navigation stack |
local_costmap | A pointer to the local_costmap used by the navigation stack |
virtual uint32_t mbf_costmap_core::CostmapRecovery::runBehavior | ( | std::string & | message | ) | [pure virtual] |
Runs the CostmapRecovery.
message | The recovery behavior could set, the message should correspond to the return value |
Implements mbf_abstract_core::AbstractRecovery.