local_planner_util.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  *
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2008, Willow Garage, Inc.
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/or other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of Willow Garage, Inc. nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  * Author: Eitan Marder-Eppstein
00036  *********************************************************************/
00037 
00038 #ifndef ABSTRACT_LOCAL_PLANNER_ODOM_H_
00039 #define ABSTRACT_LOCAL_PLANNER_ODOM_H_
00040 
00041 #include <nav_core/base_local_planner.h>
00042 
00043 #include <boost/thread.hpp>
00044 
00045 #include <costmap_2d/costmap_2d.h>
00046 #include <tf/transform_datatypes.h>
00047 #include <tf/transform_listener.h>
00048 
00049 #include <base_local_planner/local_planner_limits.h>
00050 
00051 
00052 namespace base_local_planner {
00053 
00058 class LocalPlannerUtil {
00059 
00060 private:
00061   // things we get from move_base
00062   std::string name_;
00063   std::string global_frame_;
00064 
00065   costmap_2d::Costmap2D* costmap_;
00066   tf::TransformListener* tf_;
00067 
00068 
00069   std::vector<geometry_msgs::PoseStamped> global_plan_;
00070 
00071 
00072   boost::mutex limits_configuration_mutex_;
00073   bool setup_;
00074   LocalPlannerLimits default_limits_;
00075   LocalPlannerLimits limits_;
00076   bool initialized_;
00077 
00078 public:
00079 
00083   void reconfigureCB(LocalPlannerLimits &config, bool restore_defaults);
00084 
00085   LocalPlannerUtil() : initialized_(false) {}
00086 
00087   ~LocalPlannerUtil() {
00088   }
00089 
00090   void initialize(tf::TransformListener* tf,
00091       costmap_2d::Costmap2D* costmap,
00092       std::string global_frame);
00093 
00094   bool getGoal(tf::Stamped<tf::Pose>& goal_pose);
00095 
00096   bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);
00097 
00098   bool getLocalPlan(tf::Stamped<tf::Pose>& global_pose, std::vector<geometry_msgs::PoseStamped>& transformed_plan);
00099 
00100   costmap_2d::Costmap2D* getCostmap();
00101 
00102   LocalPlannerLimits getCurrentLimits();
00103 
00104   std::string getGlobalFrame(){ return global_frame_; }
00105 };
00106 
00107 
00108 
00109 
00110 };
00111 
00112 #endif /* ABSTRACT_LOCAL_PLANNER_ODOM_H_ */


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Wed Aug 2 2017 03:12:38