carrot_planner::CarrotPlanner Class Reference

Provides a simple global planner that will compute a valid goal point for the local planner by walking back along the vector between the robot and the user-specified goal point until a valid cost is found. More...

#include <carrot_planner.h>

Inheritance diagram for carrot_planner::CarrotPlanner:

Public Member Functions
	CarrotPlanner ()
	Constructor for the CarrotPlanner. More...
	CarrotPlanner (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Constructor for the CarrotPlanner. More...
void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the CarrotPlanner. More...
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. More...
Public Member Functions inherited from nav_core::BaseGlobalPlanner
virtual bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan, double &cost)
virtual	~BaseGlobalPlanner ()

Private Member Functions
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. More...

Private Attributes
costmap_2d::Costmap2D *	costmap_
costmap_2d::Costmap2DROS *	costmap_ros_
bool	initialized_
double	min_dist_from_robot_
double	step_size_
base_local_planner::WorldModel *	world_model_
	The world model that the controller will use. More...

Additional Inherited Members
Protected Member Functions inherited from nav_core::BaseGlobalPlanner
	BaseGlobalPlanner ()

Detailed Description

Provides a simple global planner that will compute a valid goal point for the local planner by walking back along the vector between the robot and the user-specified goal point until a valid cost is found.

Definition at line 58 of file carrot_planner.h.

Constructor & Destructor Documentation

carrot_planner::CarrotPlanner::CarrotPlanner

(

)

Constructor for the CarrotPlanner.

Definition at line 45 of file carrot_planner.cpp.

carrot_planner::CarrotPlanner::CarrotPlanner	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructor for the CarrotPlanner.

Parameters

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

Definition at line 48 of file carrot_planner.cpp.

Member Function Documentation

double carrot_planner::CarrotPlanner::footprintCost ( double  x_i, double  y_i, double  theta_i  )

private

Checks the legality of the robot footprint at a position and orientation using the world model.

Parameters

x_i	The x position of the robot
y_i	The y position of the robot
theta_i	The orientation of the robot

Returns

Definition at line 70 of file carrot_planner.cpp.

void carrot_planner::CarrotPlanner::initialize ( std::string  name, costmap_2d::Costmap2DROS *  costmap_ros  )

virtual

Initialization function for the CarrotPlanner.

Parameters

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

Implements nav_core::BaseGlobalPlanner.

Definition at line 53 of file carrot_planner.cpp.

bool carrot_planner::CarrotPlanner::makePlan ( const geometry_msgs::PoseStamped &  start, const geometry_msgs::PoseStamped &  goal, std::vector< geometry_msgs::PoseStamped > &  plan  )

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

Implements nav_core::BaseGlobalPlanner.

Definition at line 87 of file carrot_planner.cpp.

Member Data Documentation

costmap_2d::Costmap2D* carrot_planner::CarrotPlanner::costmap_

private

Definition at line 91 of file carrot_planner.h.

costmap_2d::Costmap2DROS* carrot_planner::CarrotPlanner::costmap_ros_

private

Definition at line 89 of file carrot_planner.h.

bool carrot_planner::CarrotPlanner::initialized_

private

Definition at line 103 of file carrot_planner.h.

double carrot_planner::CarrotPlanner::min_dist_from_robot_

private

Definition at line 90 of file carrot_planner.h.

double carrot_planner::CarrotPlanner::step_size_

private

Definition at line 90 of file carrot_planner.h.

base_local_planner::WorldModel* carrot_planner::CarrotPlanner::world_model_

private

The world model that the controller will use.

Definition at line 92 of file carrot_planner.h.

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

• carrot_planner.h
• carrot_planner.cpp