nav_core::BaseGlobalPlanner Class Reference

Provides an interface for global planners used in navigation. All global planners written as plugins for the navigation stack must adhere to this interface. More...

#include <base_global_planner.h>

List of all members.

Public Member Functions
virtual void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)=0
	Initialization function for the BaseGlobalPlanner.
virtual bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)=0
	Given a goal pose in the world, compute a plan.
virtual bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan, double &cost)
	Given a goal pose in the world, compute a plan.
virtual	~BaseGlobalPlanner ()
	Virtual destructor for the interface.
Protected Member Functions
	BaseGlobalPlanner ()

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Detailed Description

Provides an interface for global planners used in navigation. All global planners written as plugins for the navigation stack must adhere to this interface.

Definition at line 48 of file base_global_planner.h.

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Constructor & Destructor Documentation

virtual nav_core::BaseGlobalPlanner::~BaseGlobalPlanner

(

)

[inline, virtual]

Virtual destructor for the interface.

Definition at line 86 of file base_global_planner.h.

nav_core::BaseGlobalPlanner::BaseGlobalPlanner

(

)

[inline, protected]

Definition at line 89 of file base_global_planner.h.

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Member Function Documentation

virtual void nav_core::BaseGlobalPlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		[pure virtual]

Initialization function for the BaseGlobalPlanner.

Parameters:

name	The name of this planner
costmap_ros	A pointer to the ROS wrapper of the costmap to use for planning

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

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

Parameters:

start	The start pose
goal	The goal pose
plan	The plan... filled by the planner

Returns:

True if a valid plan was found, false otherwise

virtual bool nav_core::BaseGlobalPlanner::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan,
		double &	cost
	)		[inline, virtual]

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

Parameters:

start	The start pose
goal	The goal pose
plan	The plan... filled by the planner
cost	The plans calculated cost

Returns:

True if a valid plan was found, false otherwise

Definition at line 68 of file base_global_planner.h.

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

• base_global_planner.h