The CostmapPlannerExecution binds a global costmap to the AbstractPlannerExecution and uses the nav_core/BaseCostmapPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...

#include <costmap_planner_execution.h>

Inheritance diagram for mbf_costmap_nav::CostmapPlannerExecution:

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List of all members.

Public Types
typedef boost::shared_ptr < costmap_2d::Costmap2DROS >	CostmapPtr
Public Member Functions
	CostmapPlannerExecution (const std::string name, const mbf_costmap_core::CostmapPlanner::Ptr &planner_ptr, CostmapPtr &costmap, const MoveBaseFlexConfig &config, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)
	Constructor.
virtual	~CostmapPlannerExecution ()
	Destructor.
Private Member Functions
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)
	Calls the planner plugin to make a plan from the start pose to the goal pose with the given tolerance, if a goal tolerance is enabled in the planner plugin.
mbf_abstract_nav::MoveBaseFlexConfig	toAbstract (const MoveBaseFlexConfig &config)
Private Attributes
CostmapPtr &	costmap_ptr_
	Shared pointer to the global planner costmap.
bool	lock_costmap_
	Whether to lock costmap before calling the planner (see issue #4 for details)
std::string	planner_name_
	Name of the planner assigned by the class loader.

Detailed Description

The CostmapPlannerExecution binds a global costmap to the AbstractPlannerExecution and uses the nav_core/BaseCostmapPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base.

Definition at line 57 of file costmap_planner_execution.h.

Member Typedef Documentation

typedef boost::shared_ptr<costmap_2d::Costmap2DROS> mbf_costmap_nav::CostmapPlannerExecution::CostmapPtr

Definition at line 60 of file costmap_planner_execution.h.

Constructor & Destructor Documentation

mbf_costmap_nav::CostmapPlannerExecution::CostmapPlannerExecution	(	const std::string	name,
		const mbf_costmap_core::CostmapPlanner::Ptr &	planner_ptr,
		CostmapPtr &	costmap,
		const MoveBaseFlexConfig &	config,
		boost::function< void()>	setup_fn,
		boost::function< void()>	cleanup_fn
	)

Constructor.

Parameters:

condition	Thread sleep condition variable, to wake up connected threads
costmap	Shared pointer to the costmap.

Definition at line 47 of file costmap_planner_execution.cpp.

mbf_costmap_nav::CostmapPlannerExecution::~CostmapPlannerExecution ( ) [virtual]

Destructor.

Definition at line 61 of file costmap_planner_execution.cpp.

Member Function Documentation

uint32_t mbf_costmap_nav::CostmapPlannerExecution::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance,
		std::vector< geometry_msgs::PoseStamped > &	plan,
		double &	cost,
		std::string &	message
	)		`[private, virtual]`

Calls the planner plugin to make a plan from the start pose to the goal pose with the given tolerance, if a goal tolerance is enabled in the planner plugin.

Parameters:

start	The start pose for planning
goal	The goal pose for planning
tolerance	The goal tolerance
plan	The computed plan by the plugin
cost	The computed costs for the corresponding plan
message	An optional message which should correspond with the returned outcome