carrot_planner.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef CARROT_PLANNER_H_
38 #define CARROT_PLANNER_H_
39 #include <ros/ros.h>
41 #include <costmap_2d/costmap_2d.h>
43 
44 #include <geometry_msgs/PoseStamped.h>
45 #include <angles/angles.h>
46 
47 #include <tf/tf.h>
48 #include <tf/transform_datatypes.h>
49 
52 
53 namespace carrot_planner{
59  public:
63  CarrotPlanner();
69  CarrotPlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
70 
76  void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
77 
85  bool makePlan(const geometry_msgs::PoseStamped& start,
86  const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan);
87 
88  private:
93 
101  double footprintCost(double x_i, double y_i, double theta_i);
102 
104  };
105 };
106 #endif
costmap_2d::Costmap2DROS * costmap_ros_
base_local_planner::WorldModel * world_model_
The world model that the controller will use.
costmap_2d::Costmap2D * costmap_
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.
Provides a simple global planner that will compute a valid goal point for the local planner by walkin...
void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros)
Initialization function for the CarrotPlanner.
double footprintCost(double x_i, double y_i, double theta_i)
Checks the legality of the robot footprint at a position and orientation using the world model...
CarrotPlanner()
Constructor for the CarrotPlanner.


carrot_planner
Author(s): Eitan Marder-Eppstein, Sachin Chitta, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:54