Public Member Functions | Private Member Functions | Private Attributes
sbpl_lattice_planner::SBPLLatticePlanner Class Reference

#include <sbpl_lattice_planner.h>

Inheritance diagram for sbpl_lattice_planner::SBPLLatticePlanner:
Inheritance graph
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List of all members.

Public Member Functions

virtual void initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
 Initialization function for the SBPLLatticePlanner object.
virtual bool makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
 Given a goal pose in the world, compute a plan.
 SBPLLatticePlanner ()
 Default constructor for the NavFnROS object.
 SBPLLatticePlanner (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
 Constructor for the SBPLLatticePlanner object.
virtual ~SBPLLatticePlanner ()

Private Member Functions

unsigned char computeCircumscribedCost ()
unsigned char costMapCostToSBPLCost (unsigned char newcost)
void publishStats (int solution_cost, int solution_size, const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal)

Private Attributes

double allocated_time_
unsigned char circumscribed_cost_
std::string cost_map_topic_
costmap_2d::Costmap2DROScostmap_ros_
unsigned int current_env_height_
unsigned int current_env_width_
EnvironmentNAVXYTHETALAT * env_
std::string environment_type_
std::vector< geometry_msgs::Pointfootprint_
int force_scratch_limit_
bool forward_search_
double initial_epsilon_
bool initialized_
unsigned char inscribed_inflated_obstacle_
unsigned char lethal_obstacle_
std::string name_
ros::Publisher plan_pub_
SBPLPlanner * planner_
std::string planner_type_
std::string primitive_filename_
unsigned char sbpl_cost_multiplier_
ros::Publisher stats_publisher_

Detailed Description

Definition at line 24 of file sbpl_lattice_planner.h.


Constructor & Destructor Documentation

Default constructor for the NavFnROS object.

Definition at line 87 of file sbpl_lattice_planner.cpp.

Constructor for the SBPLLatticePlanner object.

Parameters:
nameThe name of this planner
costmap_rosA pointer to the ROS wrapper of the costmap to use

Definition at line 91 of file sbpl_lattice_planner.cpp.

Definition at line 60 of file sbpl_lattice_planner.h.


Member Function Documentation

Definition at line 253 of file sbpl_lattice_planner.cpp.

unsigned char sbpl_lattice_planner::SBPLLatticePlanner::costMapCostToSBPLCost ( unsigned char  newcost) [private]

Definition at line 216 of file sbpl_lattice_planner.cpp.

void sbpl_lattice_planner::SBPLLatticePlanner::initialize ( std::string  name,
costmap_2d::Costmap2DROS costmap_ros 
) [virtual]

Initialization function for the SBPLLatticePlanner object.

Parameters:
nameThe name of this planner
costmap_rosA pointer to the ROS wrapper of the costmap to use

Implements nav_core::BaseGlobalPlanner.

Definition at line 97 of file sbpl_lattice_planner.cpp.

bool sbpl_lattice_planner::SBPLLatticePlanner::makePlan ( const geometry_msgs::PoseStamped &  start,
const geometry_msgs::PoseStamped &  goal,
std::vector< geometry_msgs::PoseStamped > &  plan 
) [virtual]

Given a goal pose in the world, compute a plan.

Parameters:
startThe start pose
goalThe goal pose
planThe plan... filled by the planner
Returns:
True if a valid plan was found, false otherwise

Implements nav_core::BaseGlobalPlanner.

Definition at line 273 of file sbpl_lattice_planner.cpp.

void sbpl_lattice_planner::SBPLLatticePlanner::publishStats ( int  solution_cost,
int  solution_size,
const geometry_msgs::PoseStamped &  start,
const geometry_msgs::PoseStamped &  goal 
) [private]

Definition at line 231 of file sbpl_lattice_planner.cpp.


Member Data Documentation

amount of time allowed for search

Definition at line 77 of file sbpl_lattice_planner.h.

Definition at line 89 of file sbpl_lattice_planner.h.

what type of environment in which to plan. choices are 2D and XYThetaLattice.

Definition at line 81 of file sbpl_lattice_planner.h.

manages the cost map for us

Definition at line 93 of file sbpl_lattice_planner.h.

Definition at line 96 of file sbpl_lattice_planner.h.

Definition at line 95 of file sbpl_lattice_planner.h.

EnvironmentNAVXYTHETALAT* sbpl_lattice_planner::SBPLLatticePlanner::env_ [private]

Definition at line 73 of file sbpl_lattice_planner.h.

Definition at line 80 of file sbpl_lattice_planner.h.

Definition at line 94 of file sbpl_lattice_planner.h.

where to find the motion primitives for the current robot

Definition at line 85 of file sbpl_lattice_planner.h.

what topic is being used for the costmap topic

Definition at line 83 of file sbpl_lattice_planner.h.

initial epsilon for beginning the anytime search

Definition at line 78 of file sbpl_lattice_planner.h.

Definition at line 70 of file sbpl_lattice_planner.h.

Definition at line 88 of file sbpl_lattice_planner.h.

the number of cells that have to be changed in the costmap to force the planner to plan from scratch even if its an incremental planner

Definition at line 87 of file sbpl_lattice_planner.h.

Definition at line 92 of file sbpl_lattice_planner.h.

Definition at line 98 of file sbpl_lattice_planner.h.

Definition at line 72 of file sbpl_lattice_planner.h.

sbpl method to use for planning. choices are ARAPlanner and ADPlanner

Definition at line 75 of file sbpl_lattice_planner.h.

whether to use forward or backward search

Definition at line 84 of file sbpl_lattice_planner.h.

Definition at line 90 of file sbpl_lattice_planner.h.

Definition at line 99 of file sbpl_lattice_planner.h.


The documentation for this class was generated from the following files:


sbpl_lattice_planner
Author(s): Michael Phillips
autogenerated on Thu Mar 28 2019 03:37:42