Public Member Functions
teb_local_planner::PlannerInterface Class Reference

This abstract class defines an interface for local planners. More...

#include <planner_interface.h>

Inheritance diagram for teb_local_planner::PlannerInterface:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void clearPlanner ()=0
 Reset the planner.
virtual void computeCurrentCost (std::vector< double > &cost, double obst_cost_scale=1.0, bool alternative_time_cost=false)
virtual bool isHorizonReductionAppropriate (const std::vector< geometry_msgs::PoseStamped > &initial_plan) const
 Implement this method to check if the planner suggests a shorter horizon (e.g. to resolve problems)
virtual bool isTrajectoryFeasible (base_local_planner::CostmapModel *costmap_model, const std::vector< geometry_msgs::Point > &footprint_spec, double inscribed_radius=0.0, double circumscribed_radius=0.0, int look_ahead_idx=-1)=0
 Check whether the planned trajectory is feasible or not.
 PlannerInterface ()
 Default constructor.
virtual void visualize ()
 Visualize planner specific stuff. Overwrite this method to provide an interface to perform all planner related visualizations at once.
virtual ~PlannerInterface ()
 Virtual destructor.
Plan a trajectory
virtual bool plan (const std::vector< geometry_msgs::PoseStamped > &initial_plan, const geometry_msgs::Twist *start_vel=NULL, bool free_goal_vel=false)=0
 Plan a trajectory based on an initial reference plan.
virtual bool plan (const tf::Pose &start, const tf::Pose &goal, const geometry_msgs::Twist *start_vel=NULL, bool free_goal_vel=false)=0
 Plan a trajectory between a given start and goal pose (tf::Pose version).
virtual bool plan (const PoseSE2 &start, const PoseSE2 &goal, const geometry_msgs::Twist *start_vel=NULL, bool free_goal_vel=false)=0
 Plan a trajectory between a given start and goal pose.
virtual bool getVelocityCommand (double &vx, double &vy, double &omega) const =0
 Get the velocity command from a previously optimized plan to control the robot at the current sampling interval.

Detailed Description

This abstract class defines an interface for local planners.

Definition at line 66 of file planner_interface.h.


Constructor & Destructor Documentation

Default constructor.

Definition at line 73 of file planner_interface.h.

Virtual destructor.

Definition at line 79 of file planner_interface.h.


Member Function Documentation

virtual void teb_local_planner::PlannerInterface::clearPlanner ( ) [pure virtual]
virtual void teb_local_planner::PlannerInterface::computeCurrentCost ( std::vector< double > &  cost,
double  obst_cost_scale = 1.0,
bool  alternative_time_cost = false 
) [inline, virtual]

Compute and return the cost of the current optimization graph (supports multiple trajectories)

Parameters:
[out]costcurrent cost value for each trajectory [for a planner with just a single trajectory: size=1, vector will not be cleared]
obst_cost_scaleSpecify extra scaling for obstacle costs
alternative_time_costReplace the cost for the time optimal objective by the actual (weighted) transition time

Definition at line 188 of file planner_interface.h.

virtual bool teb_local_planner::PlannerInterface::getVelocityCommand ( double &  vx,
double &  vy,
double &  omega 
) const [pure virtual]

Get the velocity command from a previously optimized plan to control the robot at the current sampling interval.

Warning:
Call plan() first and check if the generated plan is feasible.
Parameters:
[out]vxtranslational velocity [m/s]
[out]vystrafing velocity which can be nonzero for holonomic robots [m/s]
[out]omegarotational velocity [rad/s]
Returns:
true if command is valid, false otherwise

Implemented in teb_local_planner::HomotopyClassPlanner, and teb_local_planner::TebOptimalPlanner.

virtual bool teb_local_planner::PlannerInterface::isHorizonReductionAppropriate ( const std::vector< geometry_msgs::PoseStamped > &  initial_plan) const [inline, virtual]

Implement this method to check if the planner suggests a shorter horizon (e.g. to resolve problems)

This method is intendend to be called after determining that a trajectory provided by the planner is infeasible. In some cases a reduction of the horizon length might resolve problems. E.g. if a planned trajectory cut corners. Since the trajectory representation is managed by the planner, it is part of the base planner_interface. The implementation is optional. If not specified, the method returns false.

Parameters:
initial_planThe intial and transformed plan (part of the local map and pruned up to the robot position)
Returns:
true, if the planner suggests a shorter horizon, false otherwise.

Reimplemented in teb_local_planner::TebOptimalPlanner, and teb_local_planner::HomotopyClassPlanner.

Definition at line 179 of file planner_interface.h.

virtual bool teb_local_planner::PlannerInterface::isTrajectoryFeasible ( base_local_planner::CostmapModel costmap_model,
const std::vector< geometry_msgs::Point > &  footprint_spec,
double  inscribed_radius = 0.0,
double  circumscribed_radius = 0.0,
int  look_ahead_idx = -1 
) [pure virtual]

Check whether the planned trajectory is feasible or not.

This method currently checks only that the trajectory, or a part of the trajectory is collision free. Obstacles are here represented as costmap instead of the internal ObstacleContainer.

Parameters:
costmap_modelPointer to the costmap model
footprint_specThe specification of the footprint of the robot in world coordinates
inscribed_radiusThe radius of the inscribed circle of the robot
circumscribed_radiusThe radius of the circumscribed circle of the robot
look_ahead_idxNumber of poses along the trajectory that should be verified, if -1, the complete trajectory will be checked.
Returns:
true, if the robot footprint along the first part of the trajectory intersects with any obstacle in the costmap, false otherwise.

Implemented in teb_local_planner::TebOptimalPlanner, and teb_local_planner::HomotopyClassPlanner.

virtual bool teb_local_planner::PlannerInterface::plan ( const std::vector< geometry_msgs::PoseStamped > &  initial_plan,
const geometry_msgs::Twist *  start_vel = NULL,
bool  free_goal_vel = false 
) [pure virtual]

Plan a trajectory based on an initial reference plan.

Provide this method to create and optimize a trajectory that is initialized according to an initial reference plan (given as a container of poses).

Parameters:
initial_planvector of geometry_msgs::PoseStamped
start_velCurrent start velocity (e.g. the velocity of the robot, only linear.x and angular.z are used)
free_goal_velif true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false)
Returns:
true if planning was successful, false otherwise

Implemented in teb_local_planner::HomotopyClassPlanner, and teb_local_planner::TebOptimalPlanner.

virtual bool teb_local_planner::PlannerInterface::plan ( const tf::Pose start,
const tf::Pose goal,
const geometry_msgs::Twist *  start_vel = NULL,
bool  free_goal_vel = false 
) [pure virtual]

Plan a trajectory between a given start and goal pose (tf::Pose version).

Provide this method to create and optimize a trajectory that is initialized between a given start and goal pose.

Parameters:
starttf::Pose containing the start pose of the trajectory
goaltf::Pose containing the goal pose of the trajectory
start_velCurrent start velocity (e.g. the velocity of the robot, only linear.x and angular.z are used)
free_goal_velif true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false)
Returns:
true if planning was successful, false otherwise

Implemented in teb_local_planner::HomotopyClassPlanner, and teb_local_planner::TebOptimalPlanner.

virtual bool teb_local_planner::PlannerInterface::plan ( const PoseSE2 start,
const PoseSE2 goal,
const geometry_msgs::Twist *  start_vel = NULL,
bool  free_goal_vel = false 
) [pure virtual]

Plan a trajectory between a given start and goal pose.

Provide this method to create and optimize a trajectory that is initialized between a given start and goal pose.

Parameters:
startPoseSE2 containing the start pose of the trajectory
goalPoseSE2 containing the goal pose of the trajectory
start_velInitial velocity at the start pose (twist msg containing the translational and angular velocity).
free_goal_velif true, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false)
Returns:
true if planning was successful, false otherwise

Implemented in teb_local_planner::HomotopyClassPlanner, and teb_local_planner::TebOptimalPlanner.

virtual void teb_local_planner::PlannerInterface::visualize ( ) [inline, virtual]

Visualize planner specific stuff. Overwrite this method to provide an interface to perform all planner related visualizations at once.

Reimplemented in teb_local_planner::TebOptimalPlanner, and teb_local_planner::HomotopyClassPlanner.

Definition at line 148 of file planner_interface.h.


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


teb_local_planner
Author(s): Christoph Rösmann
autogenerated on Sat Jun 8 2019 20:21:34