dwb_local_planner::GoalChecker Class Reference

Function-object for checking whether a goal has been reached. More...

#include <goal_checker.h>

Public Types
using	Ptr = std::shared_ptr< dwb_local_planner::GoalChecker >

Public Member Functions
virtual void	initialize (const ros::NodeHandle &nh)=0
	Initialize any parameters from the NodeHandle. More...
virtual bool	isGoalReached (const geometry_msgs::Pose2D &query_pose, const geometry_msgs::Pose2D &goal_pose, const nav_2d_msgs::Twist2D &velocity)=0
	Check whether the goal should be considered reached. More...
virtual void	reset ()
	Reset the state of the goal checker (if any) More...
virtual	~GoalChecker ()

Detailed Description

Function-object for checking whether a goal has been reached.

This class defines the plugin interface for determining whether you have reached the goal state. This primarily consists of checking the relative positions of two poses (which are presumed to be in the same frame). It can also check the velocity, as some applications require that robot be stopped to be considered as having reached the goal.

Definition at line 55 of file goal_checker.h.

Member Typedef Documentation

using dwb_local_planner::GoalChecker::Ptr = std::shared_ptr<dwb_local_planner::GoalChecker>

Definition at line 58 of file goal_checker.h.

Constructor & Destructor Documentation

virtual dwb_local_planner::GoalChecker::~GoalChecker ( )

inlinevirtual

Definition at line 60 of file goal_checker.h.

Member Function Documentation

virtual void dwb_local_planner::GoalChecker::initialize ( const ros::NodeHandle &  nh )

pure virtual

Initialize any parameters from the NodeHandle.

Parameters

nh	NodeHandle for grabbing parameters

virtual bool dwb_local_planner::GoalChecker::isGoalReached ( const geometry_msgs::Pose2D &  query_pose, const geometry_msgs::Pose2D &  goal_pose, const nav_2d_msgs::Twist2D &  velocity  )

pure virtual

Check whether the goal should be considered reached.

Parameters

query_pose	The pose to check
goal_pose	The pose to check against
velocity	The robot's current velocity

Returns

True if goal is reached

virtual void dwb_local_planner::GoalChecker::reset ( )

inlinevirtual

Reset the state of the goal checker (if any)

Definition at line 71 of file goal_checker.h.

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

• goal_checker.h