local_planner_util.h
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35  * Author: Eitan Marder-Eppstein
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37 
38 #ifndef ABSTRACT_LOCAL_PLANNER_ODOM_H_
39 #define ABSTRACT_LOCAL_PLANNER_ODOM_H_
40 
42 
43 #include <boost/thread.hpp>
44 
45 #include <costmap_2d/costmap_2d.h>
46 #include <tf/transform_datatypes.h>
47 #include <tf/transform_listener.h>
48 
50 
51 
52 namespace base_local_planner {
53 
59 
60 private:
61  // things we get from move_base
62  std::string name_;
63  std::string global_frame_;
64 
67 
68 
69  std::vector<geometry_msgs::PoseStamped> global_plan_;
70 
71 
73  bool setup_;
77 
78 public:
79 
83  void reconfigureCB(LocalPlannerLimits &config, bool restore_defaults);
84 
85  LocalPlannerUtil() : initialized_(false) {}
86 
88  }
89 
91  costmap_2d::Costmap2D* costmap,
92  std::string global_frame);
93 
94  bool getGoal(tf::Stamped<tf::Pose>& goal_pose);
95 
96  bool setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan);
97 
98  bool getLocalPlan(tf::Stamped<tf::Pose>& global_pose, std::vector<geometry_msgs::PoseStamped>& transformed_plan);
99 
101 
103 
104  std::string getGlobalFrame(){ return global_frame_; }
105 };
106 
107 
108 
109 
110 };
111 
112 #endif /* ABSTRACT_LOCAL_PLANNER_ODOM_H_ */
bool getGoal(tf::Stamped< tf::Pose > &goal_pose)
void reconfigureCB(LocalPlannerLimits &config, bool restore_defaults)
Callback to update the local planner&#39;s parameters.
bool getLocalPlan(tf::Stamped< tf::Pose > &global_pose, std::vector< geometry_msgs::PoseStamped > &transformed_plan)
void initialize(tf::TransformListener *tf, costmap_2d::Costmap2D *costmap, std::string global_frame)
bool setPlan(const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
std::vector< geometry_msgs::PoseStamped > global_plan_
Helper class implementing infrastructure code many local planner implementations may need...


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:49