Classes
class	CostCoeff
Public Member Functions
	Planner3dNode ()
void	spin ()
Protected Types
enum	DebugMode { DEBUG_HYSTERESIS, DEBUG_HISTORY, DEBUG_COST_ESTIM }
Protected Member Functions
void	cbAction ()
float	cbCost (const Astar::Vec &s, Astar::Vec &e, const Astar::Vec &v_goal, const Astar::Vec &v_start, const bool hyst)
float	cbCostEstim (const Astar::Vec &s, const Astar::Vec &e)
bool	cbForget (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
void	cbGoal (const geometry_msgs::PoseStamped::ConstPtr &msg)
bool	cbMakePlan (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res)
void	cbMap (const costmap_cspace_msgs::CSpace3D::ConstPtr &msg)
void	cbMapUpdate (const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr &msg)
void	cbPreempt ()
bool	cbProgress (const std::list< Astar::Vec > &path_grid)
std::vector< Astar::Vec > &	cbSearch (const Astar::Vec &p, const Astar::Vec &s, const Astar::Vec &e)
void	diagnoseStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)
float	euclidCost (const Astar::Vec &v, const Astar::Vecf coef) const
float	euclidCost (const Astar::Vec &v) const
void	fillCostmap (reservable_priority_queue< Astar::PriorityVec > &open, Astar::Gridmap< float > &g, const Astar::Vec &s, const Astar::Vec &e)
bool	makePlan (const geometry_msgs::Pose &gs, const geometry_msgs::Pose &ge, nav_msgs::Path &path, bool hyst)
void	publishCostmap ()
void	publishEmptyPath ()
bool	searchAvailablePos (Astar::Vec &s, const int xy_range, const int angle_range, const int cost_acceptable=50, const int min_xy_range=0)
bool	setGoal (const geometry_msgs::PoseStamped &msg)
bool	switchDetect (const nav_msgs::Path &path)
bool	updateGoal (const bool goal_changed=true)
void	updateStart ()
Protected Attributes
std::shared_ptr < Planner3DActionServer >	act_
float	angle_resolution_aspect_
Astar	as_
CostCoeff	cc_
Astar::Gridmap< char, 0x40 >	cm_
Astar::Gridmap< char, 0x40 >	cm_base_
Astar::Gridmap< char, 0x40 >	cm_hist_
Astar::Gridmap < bbf::BinaryBayesFilter, 0x20 >	cm_hist_bbf_
Astar::Gridmap< char, 0x80 >	cm_hyst_
Astar::Gridmap< char, 0x80 >	cm_rough_
Astar::Gridmap< char, 0x80 >	cm_rough_base_
int	cnt_stuck_
Astar::Gridmap< float >	cost_estim_cache_
ros::Duration	costmap_watchdog_
DebugMode	debug_out_
diagnostic_updater::Updater	diag_updater_
Astar::Vecf	ec_
Astar::Vecf	ec_rough_
int	esc_angle_
int	esc_range_
double	esc_range_f_
bool	escaping_
Astar::Vecf	euclid_cost_coef_
bool	fast_map_update_
bool	find_best_
bool	force_goal_orientation_
float	freq_
float	freq_min_
geometry_msgs::PoseStamped	goal_
geometry_msgs::PoseStamped	goal_raw_
int	goal_tolerance_ang_
double	goal_tolerance_ang_f_
double	goal_tolerance_ang_finish_
int	goal_tolerance_lin_
double	goal_tolerance_lin_f_
bool	goal_updated_
bool	has_goal_
bool	has_map_
bool	has_start_
int	hist_ignore_range_
double	hist_ignore_range_f_
int	hist_ignore_range_max_
double	hist_ignore_range_max_f_
JumpDetector	jump_
ros::Time	last_costmap_
int	local_range_
double	local_range_f_
int	longcut_range_
double	longcut_range_f_
std_msgs::Header	map_header_
costmap_cspace_msgs::MapMetaData3D	map_info_
float	max_ang_vel_
int	max_retry_num_
float	max_vel_
float	min_curve_raduis_
MotionCache	motion_cache_
MotionCache	motion_cache_linear_
ros::NodeHandle	nh_
int	num_task_
bool	overwrite_cost_
PathInterpolator	path_interpolator_
ros::NodeHandle	pnh_
ros::Publisher	pub_debug_
ros::Publisher	pub_end_
ros::Publisher	pub_hist_
ros::Publisher	pub_path_
ros::Publisher	pub_path_poses_
ros::Publisher	pub_path_velocity_
ros::Publisher	pub_start_
ros::Publisher	pub_status_
int	range_
float	remember_hit_odds_
float	remember_miss_odds_
bool	remember_updates_
Astar::Vecf	resolution_
std::string	robot_frame_
RotationCache	rot_cache_
bool	rough_
float	rough_cost_max_
std::vector< Astar::Vec >	search_list_
std::vector< Astar::Vec >	search_list_rough_
float	search_range_
ros::ServiceServer	srs_forget_
ros::ServiceServer	srs_make_plan_
geometry_msgs::PoseStamped	start_
planner_cspace_msgs::PlannerStatus	status_
ros::Subscriber	sub_goal_
ros::Subscriber	sub_map_
ros::Subscriber	sub_map_update_
float	sw_wait_
bool	temporary_escape_
tf2_ros::Buffer	tfbuf_
tf2_ros::TransformListener	tfl_
int	tolerance_angle_
double	tolerance_angle_f_
int	tolerance_range_
double	tolerance_range_f_
int	unknown_cost_
bool	use_path_with_velocity_

Detailed Description

Definition at line 71 of file planner_3d.cpp.

Member Enumeration Documentation

enum Planner3dNode::DebugMode [protected]

Enumerator:

DEBUG_HYSTERESIS
DEBUG_HISTORY
DEBUG_COST_ESTIM

Definition at line 211 of file planner_3d.cpp.

Constructor & Destructor Documentation

Planner3dNode::Planner3dNode ( ) [inline]

Definition at line 1126 of file planner_3d.cpp.

Member Function Documentation

void Planner3dNode::cbAction ( ) [inline, protected]

Definition at line 1091 of file planner_3d.cpp.

float Planner3dNode::cbCost	(	const Astar::Vec &	s,
		Astar::Vec &	e,
		const Astar::Vec &	v_goal,
		const Astar::Vec &	v_start,
		const bool	hyst
	)		`[inline, protected]`

Definition at line 1685 of file planner_3d.cpp.

float Planner3dNode::cbCostEstim	(	const Astar::Vec &	s,
		const Astar::Vec &	e
	)		`[inline, protected]`

Definition at line 1637 of file planner_3d.cpp.

bool Planner3dNode::cbForget	(	std_srvs::EmptyRequest &	req,
		std_srvs::EmptyResponse &	res
	)		`[inline, protected]`

Definition at line 240 of file planner_3d.cpp.

void Planner3dNode::cbGoal ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [inline, protected]

Definition at line 361 of file planner_3d.cpp.

bool Planner3dNode::cbMakePlan	(	nav_msgs::GetPlan::Request &	req,
		nav_msgs::GetPlan::Response &	res
	)		`[inline, protected]`

Definition at line 249 of file planner_3d.cpp.

void Planner3dNode::cbMap ( const costmap_cspace_msgs::CSpace3D::ConstPtr & msg ) [inline, protected]

Definition at line 947 of file planner_3d.cpp.

void Planner3dNode::cbMapUpdate ( const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr & msg ) [inline, protected]

Definition at line 715 of file planner_3d.cpp.

void Planner3dNode::cbPreempt ( ) [inline, protected]

Definition at line 370 of file planner_3d.cpp.

bool Planner3dNode::cbProgress ( const std::list< Astar::Vec > & path_grid ) [inline, protected]

Definition at line 1630 of file planner_3d.cpp.

std::vector<Astar::Vec>& Planner3dNode::cbSearch	(	const Astar::Vec &	p,
		const Astar::Vec &	s,
		const Astar::Vec &	e
	)		`[inline, protected]`

Definition at line 1614 of file planner_3d.cpp.

void Planner3dNode::diagnoseStatus ( diagnostic_updater::DiagnosticStatusWrapper & stat ) [inline, protected]

Definition at line 1846 of file planner_3d.cpp.

float Planner3dNode::euclidCost	(	const Astar::Vec &	v,
		const Astar::Vecf	coef
	)		const `[inline, protected]`

Definition at line 111 of file planner_3d.cpp.

float Planner3dNode::euclidCost ( const Astar::Vec & v ) const [inline, protected]

Definition at line 127 of file planner_3d.cpp.

void Planner3dNode::fillCostmap	(	reservable_priority_queue< Astar::PriorityVec > &	open,
		Astar::Gridmap< float > &	g,
		const Astar::Vec &	s,
		const Astar::Vec &	e
	)		`[inline, protected]`

Definition at line 408 of file planner_3d.cpp.

bool Planner3dNode::makePlan	(	const geometry_msgs::Pose &	gs,
		const geometry_msgs::Pose &	ge,
		nav_msgs::Path &	path,
		bool	hyst
	)		`[inline, protected]`

Definition at line 1417 of file planner_3d.cpp.

void Planner3dNode::publishCostmap ( ) [inline, protected]

Definition at line 649 of file planner_3d.cpp.

void Planner3dNode::publishEmptyPath ( ) [inline, protected]

Definition at line 698 of file planner_3d.cpp.

bool Planner3dNode::searchAvailablePos	(	Astar::Vec &	s,
		const int	xy_range,
		const int	angle_range,
		const int	cost_acceptable = `50`,
		const int	min_xy_range = `0`
	)		`[inline, protected]`