#include <wrapper_local_planner.h>

Inheritance diagram for mbf_nav_core_wrapper::WrapperLocalPlanner:

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

virtual uint32_t	computeVelocityCommands (const geometry_msgs::PoseStamped &robot_pose, const geometry_msgs::TwistStamped &robot_velocity, geometry_msgs::TwistStamped &cmd_vel, std::string &message)
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base. More...

virtual void	initialize (std::string name, TF tf, costmap_2d::Costmap2DROS costmap_ros)
	Constructs the local planner. More...

virtual bool	isGoalReached ()
	Check if the goal pose has been achieved by the local planner. More...

virtual bool	isGoalReached (double xy_tolerance, double yaw_tolerance)
	Check if the goal pose has been achieved by the local planner within tolerance limits. More...

virtual bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &plan)
	Set the plan that the local planner is following. More...

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

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

Public Member Functions inherited from mbf_costmap_core::CostmapController
virtual void	initialize (std::string name,::TF tf, costmap_2d::Costmap2DROS costmap_ros)=0

virtual	~CostmapController ()

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

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

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

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

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

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

Detailed Description

Definition at line 56 of file wrapper_local_planner.h.

Constructor & Destructor Documentation

mbf_nav_core_wrapper::WrapperLocalPlanner::WrapperLocalPlanner ( boost::shared_ptr< nav_core::BaseLocalPlanner > plugin )

Public constructor used for handling a nav_core-based plugin.

Parameters

plugin Backward compatible plugin

Definition at line 87 of file wrapper_local_planner.cpp.

mbf_nav_core_wrapper::WrapperLocalPlanner::~WrapperLocalPlanner ( )

virtual

Virtual destructor for the interface.

Definition at line 91 of file wrapper_local_planner.cpp.

Member Function Documentation

bool mbf_nav_core_wrapper::WrapperLocalPlanner::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::CostmapController.

Definition at line 72 of file wrapper_local_planner.cpp.

uint32_t mbf_nav_core_wrapper::WrapperLocalPlanner::computeVelocityCommands	(	const geometry_msgs::PoseStamped &	robot_pose,
		const geometry_msgs::TwistStamped &	robot_velocity,
		geometry_msgs::TwistStamped &	cmd_vel,
		std::string &	message
	)

virtual

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Remarks: New on MBF API; replaces version without output code and message

Parameters

cmd_vel	Will be filled with the velocity command to be passed to the robot base
message	Optional more detailed outcome as a string

Returns: Result code as described on ExePath action result, as this is a wrapper to the nav_core, only 0 (SUCCESS) and 100 (FAILURE) are supported.

Implements mbf_costmap_core::CostmapController.

Definition at line 46 of file wrapper_local_planner.cpp.

void mbf_nav_core_wrapper::WrapperLocalPlanner::initialize	(	std::string	name,
		TF *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

virtual

Constructs the local planner.

Parameters

name	The name to give this instance of the local planner
tf	A pointer to a transform listener
costmap_ros	The cost map to use for assigning costs to local plans

Definition at line 80 of file wrapper_local_planner.cpp.

bool mbf_nav_core_wrapper::WrapperLocalPlanner::isGoalReached ( )

virtual

Check if the goal pose has been achieved by the local planner.

Returns: True if achieved, false otherwise

Definition at line 57 of file wrapper_local_planner.cpp.

bool mbf_nav_core_wrapper::WrapperLocalPlanner::isGoalReached	(	double	xy_tolerance,
		double	yaw_tolerance
	)

virtual

Check if the goal pose has been achieved by the local planner within tolerance limits.

Remarks: New on MBF API

Parameters

xy_tolerance	Distance tolerance in meters
yaw_tolerance	Heading tolerance in radians

Returns: True if achieved, false otherwise

Implements mbf_costmap_core::CostmapController.

Definition at line 62 of file wrapper_local_planner.cpp.

bool mbf_nav_core_wrapper::WrapperLocalPlanner::setPlan ( const std::vector< geometry_msgs::PoseStamped > & plan )

virtual

Set the plan that the local planner is following.

Parameters

plan	The plan to pass to the local planner

Returns: True if the plan was updated successfully, false otherwise

Implements mbf_costmap_core::CostmapController.

Definition at line 67 of file wrapper_local_planner.cpp.

Member Data Documentation

boost::shared_ptr< nav_core::BaseLocalPlanner > mbf_nav_core_wrapper::WrapperLocalPlanner::nav_core_plugin_

private

Definition at line 123 of file wrapper_local_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