global_planner::PlannerWithCostmap Class Reference

Inheritance diagram for global_planner::PlannerWithCostmap:

Public Member Functions
bool	makePlanService (navfn::MakeNavPlan::Request &req, navfn::MakeNavPlan::Response &resp)
	PlannerWithCostmap (string name, Costmap2DROS *cmap)
Public Member Functions inherited from global_planner::GlobalPlanner
bool	computePotential (const geometry_msgs::Point &world_point)
	Computes the full navigation function for the map given a point in the world to start from. More...
bool	getPlanFromPotential (double start_x, double start_y, double end_x, double end_y, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first) More...
double	getPointPotential (const geometry_msgs::Point &world_point)
	Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first) More...
	GlobalPlanner ()
	Default constructor for the PlannerCore object. More...
	GlobalPlanner (std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)
	Constructor for the PlannerCore object. More...
void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the PlannerCore object. More...
void	initialize (std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)
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...
bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan)
	Given a goal pose in the world, compute a plan. More...
bool	makePlanService (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp)
void	publishPlan (const std::vector< geometry_msgs::PoseStamped > &path)
	Publish a path for visualization purposes. More...
bool	validPointPotential (const geometry_msgs::Point &world_point)
	Check for a valid potential value at a given point in the world (Note: You should call computePotential first) More...
bool	validPointPotential (const geometry_msgs::Point &world_point, double tolerance)
	Check for a valid potential value at a given point in the world (Note: You should call computePotential first) More...
	~GlobalPlanner ()
	Default deconstructor for the PlannerCore object. 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
void	poseCallback (const rm::PoseStamped::ConstPtr &goal)

Private Attributes
Costmap2DROS *	cmap_
ros::ServiceServer	make_plan_service_
ros::Subscriber	pose_sub_

Additional Inherited Members
Protected Member Functions inherited from nav_core::BaseGlobalPlanner
	BaseGlobalPlanner ()
Protected Attributes inherited from global_planner::GlobalPlanner
bool	allow_unknown_
costmap_2d::Costmap2D *	costmap_
	Store a copy of the current costmap in costmap. Called by makePlan. More...
std::string	frame_id_
bool	initialized_
ros::Publisher	plan_pub_

Detailed Description

Definition at line 54 of file plan_node.cpp.

Constructor & Destructor Documentation

global_planner::PlannerWithCostmap::PlannerWithCostmap	(	string	name,
		Costmap2DROS *	cmap
	)

Definition at line 97 of file plan_node.cpp.

Member Function Documentation

bool global_planner::PlannerWithCostmap::makePlanService	(	navfn::MakeNavPlan::Request &	req,
		navfn::MakeNavPlan::Response &	resp
	)

Definition at line 66 of file plan_node.cpp.

void global_planner::PlannerWithCostmap::poseCallback ( const rm::PoseStamped::ConstPtr &  goal )

private

Definition at line 80 of file plan_node.cpp.

Member Data Documentation

Costmap2DROS* global_planner::PlannerWithCostmap::cmap_

private

Definition at line 61 of file plan_node.cpp.

ros::ServiceServer global_planner::PlannerWithCostmap::make_plan_service_

private

Definition at line 62 of file plan_node.cpp.

ros::Subscriber global_planner::PlannerWithCostmap::pose_sub_

private

Definition at line 63 of file plan_node.cpp.

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

• plan_node.cpp