#include <wrapper_global_planner.h>

Inheritance diagram for mbf_nav_core_wrapper::WrapperGlobalPlanner:

Public Member Functions
virtual bool	cancel ()
	Requests the planner to cancel, e.g. if it takes too much time. More...

virtual void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the CostmapPlanner. More...

virtual uint32_t	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan, double &cost, std::string &message)
	Given a goal pose in the world, compute a plan. More...

	WrapperGlobalPlanner (boost::shared_ptr< nav_core::BaseGlobalPlanner > plugin)
	Public constructor used for handling a nav_core-based plugin. More...

virtual	~WrapperGlobalPlanner ()
	Virtual destructor for the interface. More...

Public Member Functions inherited from mbf_costmap_core::CostmapPlanner
virtual	~CostmapPlanner ()

Public Member Functions inherited from mbf_abstract_core::AbstractPlanner
virtual	~AbstractPlanner ()

Private Attributes
boost::shared_ptr< nav_core::BaseGlobalPlanner >	nav_core_plugin_

Additional Inherited Members
Public Types inherited from mbf_costmap_core::CostmapPlanner
typedef boost::shared_ptr< ::mbf_costmap_core::CostmapPlanner >	Ptr

Public Types inherited from mbf_abstract_core::AbstractPlanner
typedef boost::shared_ptr< ::mbf_abstract_core::AbstractPlanner >	Ptr

Protected Member Functions inherited from mbf_costmap_core::CostmapPlanner
	CostmapPlanner ()

Protected Member Functions inherited from mbf_abstract_core::AbstractPlanner
	AbstractPlanner ()

Detailed Description

Definition at line 54 of file wrapper_global_planner.h.

Constructor & Destructor Documentation

mbf_nav_core_wrapper::WrapperGlobalPlanner::WrapperGlobalPlanner ( boost::shared_ptr< nav_core::BaseGlobalPlanner > plugin )

Public constructor used for handling a nav_core-based plugin.

Parameters

plugin Backward compatible plugin

Definition at line 75 of file wrapper_global_planner.cpp.

mbf_nav_core_wrapper::WrapperGlobalPlanner::~WrapperGlobalPlanner ( )

virtual

Virtual destructor for the interface.

Definition at line 79 of file wrapper_global_planner.cpp.

Member Function Documentation

bool mbf_nav_core_wrapper::WrapperGlobalPlanner::cancel ( )

virtual

Requests the planner to cancel, e.g. if it takes too much time.

Remarks: New on MBF API

Returns: True if a cancel has been successfully requested, false if not implemented.

Implements mbf_costmap_core::CostmapPlanner.

Definition at line 65 of file wrapper_global_planner.cpp.

void mbf_nav_core_wrapper::WrapperGlobalPlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

virtual

Initialization function for the CostmapPlanner.

Parameters

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

Implements mbf_costmap_core::CostmapPlanner.

Definition at line 70 of file wrapper_global_planner.cpp.

uint32_t mbf_nav_core_wrapper::WrapperGlobalPlanner::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance,
		std::vector< geometry_msgs::PoseStamped > &	plan,
		double &	cost,
		std::string &	message
	)

virtual

Given a goal pose in the world, compute a plan.

Parameters

start	The start pose
goal	The goal pose
tolerance	If the goal is obstructed, how many meters the planner can relax the constraint in x and y before failing
plan	The plan... filled by the planner
cost	The cost for the the plan
message	Optional more detailed outcome as a string

Returns: Result code as described on GetPath action result, As this is a wrapper to the nav_core, only 0 (SUCCESS) and 50 (FAILURE) are supported

Implements mbf_costmap_core::CostmapPlanner.

Definition at line 46 of file wrapper_global_planner.cpp.

Member Data Documentation

boost::shared_ptr< nav_core::BaseGlobalPlanner > mbf_nav_core_wrapper::WrapperGlobalPlanner::nav_core_plugin_

private

Definition at line 99 of file wrapper_global_planner.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation