Actionlib server for footstep planning. More...

#include <grid_path_planner.h>

Public Types
typedef PerceptionGridGraph	Graph

typedef PerceptionGridMap	GridMap

typedef GridAStarSolver< PerceptionGridGraph >	Solver

Public Member Functions
	GridPathPlanner (ros::NodeHandle &nh)

Protected Member Functions
virtual void	buildGraph ()

virtual bool	collisionBoundingBoxInfoService (jsk_footstep_planner::CollisionBoundingBoxInfo::Request &req, jsk_footstep_planner::CollisionBoundingBoxInfo::Response &res)

virtual void	gridToPoint (const int ix, const int iy, Eigen::Vector3f &p)

double	heuristicDistance (SolverNode< PerceptionGridGraph::State, PerceptionGridGraph >::Ptr node, PerceptionGridGraph::Ptr graph)

virtual void	obstacleCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)

virtual void	planCB (const jsk_footstep_msgs::PlanFootstepsGoal::ConstPtr &goal)

virtual void	pointcloudCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)

virtual void	pointToGrid (const Eigen::Vector3f &p, int &ix, int &iy)

virtual void	publishMarker ()

virtual void	publishPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, ros::Publisher &pub, const std_msgs::Header &header)

virtual void	publishText (ros::Publisher &pub, const std::string &text, GridPlanningStatus status)

virtual bool	updateCost (GridState::Ptr ptr)

Protected Attributes
actionlib::SimpleActionServer< jsk_footstep_msgs::PlanFootstepsAction >	as_

Eigen::Affine3f	collision_bbox_offset_

Eigen::Vector3f	collision_bbox_size_

double	collision_circle_max_height_

double	collision_circle_min_height_

double	collision_circle_radius_

PerceptionGridGraph::Ptr	graph_

PerceptionGridMap::Ptr	gridmap_

Eigen::Vector3f	map_offset_

double	map_resolution_

boost::mutex	mutex_

pcl::PointCloud< pcl::PointXYZ >::Ptr	obstacle_points_

std::string	obstacle_points_frame_id_

pcl::KdTreeFLANN< pcl::PointXYZ >::Ptr	obstacle_tree_

pcl::PointCloud< pcl::PointNormal >::Ptr	plane_points_

std::string	plane_points_frame_id_

pcl::KdTreeFLANN< pcl::PointNormal >::Ptr	plane_tree_

ros::Publisher	pub_close_list_

ros::Publisher	pub_marker_

ros::Publisher	pub_open_list_

ros::Publisher	pub_text_

jsk_footstep_msgs::PlanFootstepsResult	result_

ros::ServiceServer	srv_collision_bounding_box_info_

ros::Subscriber	sub_obstacle_points_

ros::Subscriber	sub_plane_points_

bool	use_obstacle_points_

bool	use_plane_points_

Detailed Description

Actionlib server for footstep planning.

Definition at line 37 of file grid_path_planner.h.

Member Typedef Documentation

typedef PerceptionGridGraph jsk_footstep_planner::GridPathPlanner::Graph

Definition at line 40 of file grid_path_planner.h.

typedef PerceptionGridMap jsk_footstep_planner::GridPathPlanner::GridMap

Definition at line 41 of file grid_path_planner.h.

typedef GridAStarSolver<PerceptionGridGraph> jsk_footstep_planner::GridPathPlanner::Solver

Definition at line 42 of file grid_path_planner.h.

Constructor & Destructor Documentation

jsk_footstep_planner::GridPathPlanner::GridPathPlanner ( ros::NodeHandle & nh )

Definition at line 15 of file grid_path_planner.cpp.

Member Function Documentation

void jsk_footstep_planner::GridPathPlanner::buildGraph ( )

protectedvirtual

Definition at line 55 of file grid_path_planner.cpp.

bool jsk_footstep_planner::GridPathPlanner::collisionBoundingBoxInfoService	(	jsk_footstep_planner::CollisionBoundingBoxInfo::Request &	req,
		jsk_footstep_planner::CollisionBoundingBoxInfo::Response &	res
	)

protectedvirtual

Definition at line 100 of file grid_path_planner.cpp.

virtual void jsk_footstep_planner::GridPathPlanner::gridToPoint	(	const int	ix,
		const int	iy,
		Eigen::Vector3f &	p
	)

inlineprotectedvirtual

Definition at line 75 of file grid_path_planner.h.

double jsk_footstep_planner::GridPathPlanner::heuristicDistance	(	SolverNode< PerceptionGridGraph::State, PerceptionGridGraph >::Ptr	node,
		PerceptionGridGraph::Ptr	graph
	)

inlineprotected

Definition at line 89 of file grid_path_planner.h.

void jsk_footstep_planner::GridPathPlanner::obstacleCallback ( const sensor_msgs::PointCloud2::ConstPtr & msg )

protectedvirtual

Definition at line 80 of file grid_path_planner.cpp.

void jsk_footstep_planner::GridPathPlanner::planCB ( const jsk_footstep_msgs::PlanFootstepsGoal::ConstPtr & goal )

protectedvirtual

Definition at line 153 of file grid_path_planner.cpp.

void jsk_footstep_planner::GridPathPlanner::pointcloudCallback ( const sensor_msgs::PointCloud2::ConstPtr & msg )

protectedvirtual

Definition at line 90 of file grid_path_planner.cpp.

virtual void jsk_footstep_planner::GridPathPlanner::pointToGrid	(	const Eigen::Vector3f &	p,
		int &	ix,
		int &	iy
	)

inlineprotectedvirtual

Definition at line 81 of file grid_path_planner.h.

void jsk_footstep_planner::GridPathPlanner::publishMarker ( )

protectedvirtual

Definition at line 393 of file grid_path_planner.cpp.

void jsk_footstep_planner::GridPathPlanner::publishPointCloud	(	const pcl::PointCloud< pcl::PointXYZRGB > &	cloud,
		ros::Publisher &	pub,
		const std_msgs::Header &	header
	)

protectedvirtual

Definition at line 325 of file grid_path_planner.cpp.

void jsk_footstep_planner::GridPathPlanner::publishText	(	ros::Publisher &	pub,
		const std::string &	text,
		GridPlanningStatus	status
	)

protectedvirtual

Definition at line 112 of file grid_path_planner.cpp.

bool jsk_footstep_planner::GridPathPlanner::updateCost ( GridState::Ptr ptr )

protectedvirtual

Definition at line 336 of file grid_path_planner.cpp.

Member Data Documentation

actionlib::SimpleActionServer<jsk_footstep_msgs::PlanFootstepsAction> jsk_footstep_planner::GridPathPlanner::as_

protected

Definition at line 101 of file grid_path_planner.h.

Eigen::Affine3f jsk_footstep_planner::GridPathPlanner::collision_bbox_offset_

protected

Definition at line 129 of file grid_path_planner.h.

Eigen::Vector3f jsk_footstep_planner::GridPathPlanner::collision_bbox_size_

protected

Definition at line 128 of file grid_path_planner.h.

double jsk_footstep_planner::GridPathPlanner::collision_circle_max_height_

protected

Definition at line 134 of file grid_path_planner.h.

double jsk_footstep_planner::GridPathPlanner::collision_circle_min_height_

protected

Definition at line 133 of file grid_path_planner.h.

double jsk_footstep_planner::GridPathPlanner::collision_circle_radius_

protected

Definition at line 132 of file grid_path_planner.h.

PerceptionGridGraph::Ptr jsk_footstep_planner::GridPathPlanner::graph_

protected

Definition at line 123 of file grid_path_planner.h.

PerceptionGridMap::Ptr jsk_footstep_planner::GridPathPlanner::gridmap_

protected

Definition at line 122 of file grid_path_planner.h.

Eigen::Vector3f jsk_footstep_planner::GridPathPlanner::map_offset_

protected

Definition at line 125 of file grid_path_planner.h.

double jsk_footstep_planner::GridPathPlanner::map_resolution_

protected

Definition at line 131 of file grid_path_planner.h.

boost::mutex jsk_footstep_planner::GridPathPlanner::mutex_

protected

Definition at line 100 of file grid_path_planner.h.

pcl::PointCloud<pcl::PointXYZ>::Ptr jsk_footstep_planner::GridPathPlanner::obstacle_points_

protected

Definition at line 115 of file grid_path_planner.h.

std::string jsk_footstep_planner::GridPathPlanner::obstacle_points_frame_id_

protected

Definition at line 120 of file grid_path_planner.h.

pcl::KdTreeFLANN<pcl::PointXYZ>::Ptr jsk_footstep_planner::GridPathPlanner::obstacle_tree_

protected

Definition at line 117 of file grid_path_planner.h.

pcl::PointCloud<pcl::PointNormal>::Ptr jsk_footstep_planner::GridPathPlanner::plane_points_

protected

Definition at line 114 of file grid_path_planner.h.

std::string jsk_footstep_planner::GridPathPlanner::plane_points_frame_id_

protected

Definition at line 119 of file grid_path_planner.h.

pcl::KdTreeFLANN<pcl::PointNormal>::Ptr jsk_footstep_planner::GridPathPlanner::plane_tree_

protected

Definition at line 116 of file grid_path_planner.h.

ros::Publisher jsk_footstep_planner::GridPathPlanner::pub_close_list_

protected

Definition at line 104 of file grid_path_planner.h.

ros::Publisher jsk_footstep_planner::GridPathPlanner::pub_marker_

protected

Definition at line 107 of file grid_path_planner.h.

ros::Publisher jsk_footstep_planner::GridPathPlanner::pub_open_list_

protected

Definition at line 105 of file grid_path_planner.h.

ros::Publisher jsk_footstep_planner::GridPathPlanner::pub_text_

protected

Definition at line 106 of file grid_path_planner.h.

jsk_footstep_msgs::PlanFootstepsResult jsk_footstep_planner::GridPathPlanner::result_

protected

Definition at line 102 of file grid_path_planner.h.

ros::ServiceServer jsk_footstep_planner::GridPathPlanner::srv_collision_bounding_box_info_

protected

Definition at line 112 of file grid_path_planner.h.

ros::Subscriber jsk_footstep_planner::GridPathPlanner::sub_obstacle_points_

protected

Definition at line 110 of file grid_path_planner.h.

ros::Subscriber jsk_footstep_planner::GridPathPlanner::sub_plane_points_

protected

Definition at line 109 of file grid_path_planner.h.

bool jsk_footstep_planner::GridPathPlanner::use_obstacle_points_

protected

Definition at line 136 of file grid_path_planner.h.

bool jsk_footstep_planner::GridPathPlanner::use_plane_points_

protected

Definition at line 137 of file grid_path_planner.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation