Provides an interface for local planners used in navigation. More...

#include <local_planner.h>

Public Member Functions
virtual nav_2d_msgs::Twist2DStamped	computeVelocityCommands (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity)=0
	Compute the best command given the current pose, velocity and goal. More...

virtual void	initialize (const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, Costmap::Ptr costmap)=0
	Constructs the local planner. More...

virtual bool	isGoalReached (const nav_2d_msgs::Pose2DStamped &pose, const nav_2d_msgs::Twist2D &velocity)=0
	Check to see whether the robot has reached its goal. More...

virtual void	setGoalPose (const nav_2d_msgs::Pose2DStamped &goal_pose)=0
	Sets the global goal for this local planner. More...

virtual void	setPlan (const nav_2d_msgs::Path2D &path)=0
	Sets the global plan for this local planner. More...

virtual	~LocalPlanner ()
	Virtual Destructor. More...

Detailed Description

Provides an interface for local planners used in navigation.

Definition at line 52 of file local_planner.h.

Constructor & Destructor Documentation

virtual nav_core2::LocalPlanner::~LocalPlanner ( )

inlinevirtual

Virtual Destructor.

Definition at line 58 of file local_planner.h.

Member Function Documentation

virtual nav_2d_msgs::Twist2DStamped nav_core2::LocalPlanner::computeVelocityCommands	(	const nav_2d_msgs::Pose2DStamped &	pose,
		const nav_2d_msgs::Twist2D &	velocity
	)

pure virtual

Compute the best command given the current pose, velocity and goal.

Get the local plan, given an initial pose, velocity and goal pose. It is presumed that the global plan is already set.

Parameters

pose	Current robot pose
velocity	Current robot velocity

Returns: The best computed velocity

virtual void nav_core2::LocalPlanner::initialize	(	const ros::NodeHandle &	parent,
		const std::string &	name,
		TFListenerPtr	tf,
		Costmap::Ptr	costmap
	)

pure virtual

Constructs the local planner.

ROS parameters/topics are expected to be in the parent/name namespace. It is suggested that all NodeHandles in the planner use the parent NodeHandle's callback queue.

Parameters

parent	NodeHandle to derive other NodeHandles from
name	The name to give this instance of the local planner
tf	A pointer to a transform listener
costmap	A pointer to the costmap

virtual bool nav_core2::LocalPlanner::isGoalReached	(	const nav_2d_msgs::Pose2DStamped &	pose,
		const nav_2d_msgs::Twist2D &	velocity
	)

pure virtual

Check to see whether the robot has reached its goal.

This tests whether the robot has fully reached the goal, given the current pose and velocity.

Parameters

query_pose	The pose to check, in local costmap coordinates.
velocity	Velocity to check

Returns: True if the goal conditions have been met

virtual void nav_core2::LocalPlanner::setGoalPose ( const nav_2d_msgs::Pose2DStamped & goal_pose )

pure virtual

Sets the global goal for this local planner.

Parameters

goal_pose The Goal Pose

virtual void nav_core2::LocalPlanner::setPlan ( const nav_2d_msgs::Path2D & path )

pure virtual

Sets the global plan for this local planner.

Parameters

path	The global plan

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

local_planner.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation