costmap_recovery_execution.h
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1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
3  *
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33  * costmap_recovery_execution.h
34  *
35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
38  *
39  */
40 
41 #ifndef MBF_COSTMAP_NAV__COSTMAP_RECOVERY_EXECUTION_H_
42 #define MBF_COSTMAP_NAV__COSTMAP_RECOVERY_EXECUTION_H_
43 
46 
47 #include "mbf_costmap_nav/MoveBaseFlexConfig.h"
49 
50 
51 namespace mbf_costmap_nav
52 {
61 {
62 
63 public:
65 
76  const std::string &recovery_name,
77  const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr,
78  const TFPtr &tf_listener_ptr,
79  const CostmapWrapper::Ptr &global_costmap,
80  const CostmapWrapper::Ptr &local_costmap,
81  const MoveBaseFlexConfig &config);
82 
86  virtual ~CostmapRecoveryExecution();
87 
88 private:
93  void preRun()
94  {
95  local_costmap_->checkActivate();
96  global_costmap_->checkActivate();
97  };
98 
103  void postRun()
104  {
105  local_costmap_->checkDeactivate();
106  global_costmap_->checkDeactivate();
107  };
108 
109  mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config);
110 
113 
116 };
117 
118 } /* namespace mbf_costmap_nav */
119 
120 #endif /* MBF_COSTMAP_NAV__COSTMAP_RECOVERY_EXECUTION_H_ */
The CostmapRecoveryExecution binds a local and a global costmap to the AbstractRecoveryExecution and ...
CostmapRecoveryExecution(const std::string &recovery_name, const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr, const TFPtr &tf_listener_ptr, const CostmapWrapper::Ptr &global_costmap, const CostmapWrapper::Ptr &local_costmap, const MoveBaseFlexConfig &config)
Constructor.
const CostmapWrapper::Ptr & local_costmap_
Shared pointer to thr local costmap.
mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config)
void postRun()
Implementation-specific cleanup function, called right after execution. This method overrides abstrac...
void preRun()
Implementation-specific setup function, called right before execution. This method overrides abstract...
const CostmapWrapper::Ptr & global_costmap_
Shared pointer to the global costmap.
boost::shared_ptr< CostmapRecoveryExecution > Ptr


mbf_costmap_nav
Author(s): Sebastian Pütz
autogenerated on Fri Nov 6 2020 03:56:29