Public Member Functions | Protected Attributes | List of all members
nav_core_adapter::GlobalPlannerAdapter Class Reference

used for employing a nav_core2 global planner interface as a nav_core plugin, like in move_base. More...

#include <global_planner_adapter.h>

Inheritance diagram for nav_core_adapter::GlobalPlannerAdapter:
Inheritance graph
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Public Member Functions

 GlobalPlannerAdapter ()
 
void initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros) override
 Load the nav_core2 global planner and initialize it. More...
 
bool makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan) override
 
- Public Member Functions inherited from nav_core::BaseGlobalPlanner
virtual bool makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan, double &cost)
 
virtual ~BaseGlobalPlanner ()
 

Protected Attributes

std::shared_ptr< CostmapAdaptercostmap_adapter_
 
costmap_2d::Costmap2DROScostmap_ros_
 
ros::Publisher path_pub_
 
boost::shared_ptr< nav_core2::GlobalPlannerplanner_
 
pluginlib::ClassLoader< nav_core2::GlobalPlannerplanner_loader_
 
TFListenerPtr tf_
 

Additional Inherited Members

- Protected Member Functions inherited from nav_core::BaseGlobalPlanner
 BaseGlobalPlanner ()
 

Detailed Description

used for employing a nav_core2 global planner interface as a nav_core plugin, like in move_base.

Definition at line 53 of file global_planner_adapter.h.

Constructor & Destructor Documentation

nav_core_adapter::GlobalPlannerAdapter::GlobalPlannerAdapter ( )

Definition at line 48 of file global_planner_adapter.cpp.

Member Function Documentation

void nav_core_adapter::GlobalPlannerAdapter::initialize ( std::string  name,
costmap_2d::Costmap2DROS costmap_ros 
)
overridevirtual

Load the nav_core2 global planner and initialize it.

Implements nav_core::BaseGlobalPlanner.

Definition at line 56 of file global_planner_adapter.cpp.

bool nav_core_adapter::GlobalPlannerAdapter::makePlan ( const geometry_msgs::PoseStamped &  start,
const geometry_msgs::PoseStamped &  goal,
std::vector< geometry_msgs::PoseStamped > &  plan 
)
overridevirtual

Implements nav_core::BaseGlobalPlanner.

Definition at line 72 of file global_planner_adapter.cpp.

Member Data Documentation

std::shared_ptr<CostmapAdapter> nav_core_adapter::GlobalPlannerAdapter::costmap_adapter_
protected

Definition at line 71 of file global_planner_adapter.h.

costmap_2d::Costmap2DROS* nav_core_adapter::GlobalPlannerAdapter::costmap_ros_
protected

Definition at line 72 of file global_planner_adapter.h.

ros::Publisher nav_core_adapter::GlobalPlannerAdapter::path_pub_
protected

Definition at line 67 of file global_planner_adapter.h.

boost::shared_ptr<nav_core2::GlobalPlanner> nav_core_adapter::GlobalPlannerAdapter::planner_
protected

Definition at line 66 of file global_planner_adapter.h.

pluginlib::ClassLoader<nav_core2::GlobalPlanner> nav_core_adapter::GlobalPlannerAdapter::planner_loader_
protected

Definition at line 65 of file global_planner_adapter.h.

TFListenerPtr nav_core_adapter::GlobalPlannerAdapter::tf_
protected

Definition at line 69 of file global_planner_adapter.h.


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


nav_core_adapter
Author(s):
autogenerated on Sun Jan 10 2021 04:08:46