Provides a global planner that will make a route along check points gained from topic. This planner uses global_planner. More...

#include <ppplanner.h>

Inheritance diagram for pipeline_planner::PipelinePlanner:

[legend]

Classes
struct	asegment

Public Member Functions
void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialisation function for the Planner. More...

bool	initialize (std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)
	Initialisation function for the Planner. More...

bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Given a goal pose in the world, compute a plan. More...

	PipelinePlanner ()
	Constructor for the PipelinePlanner. More...

	PipelinePlanner (std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)
	Constructor for the PipelinePlanner. More...

bool	ReceiveCheckpoints (pipeline_planner::ReceiveCheckpoints::Request &req, pipeline_planner::ReceiveCheckpoints::Response &res)
	Reception of checkpoints. More...

void	setCharge (bool charge)

void	setLethal (unsigned char lethal_cost)

void	setNumThread (float num_threads)

void	setPipeRadius (float radius)
	substitute pipe_radius_ value when it is called from dynamic reconfigure More...

void	setStraight (bool use_straight)

void	setTimeDisplay (bool time_display)

void	setTorchArea (bool use_torch, float torch_area_x, float torch_area_y)

void	setWeight (float centre_weight)

	~PipelinePlanner ()
	Destructor for the planner. More...

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 ()

Private Member Functions
void	calcPipeline (const int numcheckpoints, const double stonex, const double stoney, const bool isClose, const double radii, const double sradii, const double eradii, const double origin_x, const double origin_y, const unsigned int costsizex, const unsigned int costsizey, const double resolution, int data)
	To calculate the pipeline without GPU. More...

void	callbackgoal (const move_base_msgs::MoveBaseActionGoal::ConstPtr &goal)
	Callback function for reception of actionlib goal. More...

void	callbackRobotPose (const geometry_msgs::Pose::ConstPtr &pose)
	Callback function for reception of robot position. More...

bool	ConnectPoints (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, const std::vector< int > segids, std::vector< geometry_msgs::PoseStamped > &plan)
	To substitute plan by connecting start point, checkpoints and goal point. More...

int	costCheck (int endpoint)
	To check received checkpoints whether it has a problem on costmap or not. More...

int	CrossTorchArea (const double tx, const double ty, const double sx, const double sy, const double ex, const double ey, double &bx, double &by)
	Whether the line segment crosses the torch area boundary or not. More...

bool	DistanceFromCentre (int endpoint)
	Calculation of cell's distance from pipe centre. More...

bool	DistanceFromCentre_cuda (int endpoint)
	Calculation of cell's distance from pipe centre. More...

bool	DrawOpenSegment (const geometry_msgs::PoseStamped init_point, const geometry_msgs::PoseStamped end_point, std::vector< geometry_msgs::PoseStamped > &plan)
	To substitute the plan along two points. More...

bool	getCheckpoints (pipeline_planner::GetCheckpoints::Request &req, pipeline_planner::GetCheckpoints::Response &res)
	Get check points. More...

bool	getNumofCheckpoints (pipeline_planner::GetNumofCheckpoints::Request &req, pipeline_planner::GetNumofCheckpoints::Response &res)
	Get the status of reading checkpoints. More...

bool	getReadStatus (pipeline_planner::GetReadStatus::Request &req, pipeline_planner::GetReadStatus::Response &res)
	Get the status of reading checkpoints. More...

bool	getRobotStatus (pipeline_planner::GetRobotStatus::Request &req, pipeline_planner::GetRobotStatus::Response &res)
	Get the status of a robot. More...

bool	hasNoCross (const int endpoint, const std::vector< geometry_msgs::PoseStamped > check_points)
	To check whether a sequence of checkpoints has a crossing or not. More...

void	informRobotPose ()
	loop for informing the robot position by a thread More...

bool	InitSegInfo ()
	Initialisation of segment info. More...

bool	InPipeSegment (const geometry_msgs::PoseStamped &pose, double radius, double start_edge_radius, double end_edge_radius, double tolerance, int index)
	Verification of whether the position is in the pipeline segment or not. More...

bool	InquireSegments (pipeline_planner::InquireSegments::Request &req, pipeline_planner::InquireSegments::Response &res)
	Inquiring segments information. More...

bool	isBehindInaSegment (int idx, const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal)
	Whether the goal point is behind the start point in a pipe segment. More...

bool	knowRobotPosition (const geometry_msgs::Pose pose, int &ID, double &distance)
	To know the position of a robot in the pipeline. More...

void	makePipeline ()
	To make a pipeline and publish it as a topic Pipeline is constructed from check_points_. Validity of checkpoints_ must be checked in advance. Publication data values 0:in the pipeline, 100:out of the pipeline. More...

void	makePipeline (bool legal)

void	PublishCheckpointsResult (std_msgs::UInt32 result)
	Callback function for subscription of checkpoints data from topic. More...

void	publishPlan (const std::vector< geometry_msgs::PoseStamped > &path)
	To publish a path. More...

void	reconfigureCB (pipeline_planner::PipelinePlannerConfig &config, uint32_t level)
	Callback function for dynamic reconfiguration. More...

bool	SetARadius (pipeline_planner::SetARadius::Request &req, pipeline_planner::SetARadius::Response &res)
	Service to set a pipeline segment radius. More...

bool	SetARightshift (pipeline_planner::SetARightshift::Request &req, pipeline_planner::SetARightshift::Response &res)
	Service to set a right shift value for a pipeline segment. More...

bool	TakeLocalGoal (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, geometry_msgs::PoseStamped &local_goal, int &err)
	To make local goal on torch model. More...

double	TakeSegmentRadius (const double contained_radius)
	Taking pipline radius in a given pipeline segment. More...

void	ThreadNumberAdjusment (bool debug)

void	TimeDisplay (const bool time_display, const double duration)
	Display consumed time on makePlan function. More...

bool	VeilCostmap (const std::vector< int > segids, const int startindex, const int goalindex, const geometry_msgs::PoseStamped &start)
	To veil costmap other than that in pipeline segments. More...

bool	VeilCostmap_cuda (const std::vector< int > segids, const int startindex, const int goalindex, const geometry_msgs::PoseStamped &start)
	To veil costmap other than that in pipeline segments. More...

bool	whereInaPipeSegment (const geometry_msgs::Pose pose, const int id, const double radius, const double sradius, const double eradius, int &part, double &dist, double tolerance)
	To know the position of a robot in a pipe segment. More...

Private Attributes
double	centre_weight_

bool	charge_

std::vector< geometry_msgs::PoseStamped >	check_points_

std_msgs::Float32	consumed_time_

costmap_2d::Costmap2D *	costmap_

bool	debug

std::vector< double >	dist_from_pipe_centre_

dynamic_reconfigure::Server< pipeline_planner::PipelinePlannerConfig > *	dsrv_

bool	fix_pipe_radius_

std::string	gained_frame_id_

ros::ServiceServer	get_checkpoints_srv_

ros::ServiceServer	get_numof_checkpoints_srv_

bool	initialized_

ros::ServiceServer	inquire_segments_srv_

unsigned char	lethal_cost_

boost::mutex	mutex_robot_position_

std::string	name_

costmap_2d::Costmap2D *	navfn_costmap_

navfn::NavfnROS *	navfn_planner_

int	num_threads_

int	openclose_

double	pipe_radius_

nav_msgs::OccupancyGrid	pipeline_

ros::Publisher	pub_initialised_

ros::Publisher	pub_pipeline_

ros::Publisher	pub_plan_

ros::Publisher	pub_result_

ros::Publisher	pub_robot_position_

ros::Publisher	pub_status_

ros::Publisher	pub_time_

ros::ServiceServer	read_state_srv_

std_msgs::UInt32	read_status_

ros::ServiceServer	receive_checkpoints_srv_

geometry_msgs::Pose	robot_position_

ros::ServiceServer	robot_state_srv_

std_msgs::UInt32	robot_status_

std::vector< pipeline_planner::SegmentInfo >	segment_infos_

std::vector< double >	segment_lengths_

ros::ServiceServer	set_a_radius_srv_

ros::ServiceServer	set_a_rightshift_srv_

ros::Subscriber	sub_movebase_goal_

ros::Subscriber	sub_robot_pose_

boost::thread *	thread_robot_position_

bool	time_display_

double	tolerance_

double	torch_area_x_

double	torch_area_y_

bool	use_straight_

bool	use_torch_

bool	willDisplay_

Additional Inherited Members
Protected Member Functions inherited from nav_core::BaseGlobalPlanner
	BaseGlobalPlanner ()

Detailed Description

Provides a global planner that will make a route along check points gained from topic. This planner uses global_planner.

Definition at line 75 of file ppplanner.h.

Constructor & Destructor Documentation

pipeline_planner::PipelinePlanner::PipelinePlanner ( )

Constructor for the PipelinePlanner.

Definition at line 80 of file ppplanner_core.cpp.

pipeline_planner::PipelinePlanner::PipelinePlanner	(	std::string	name,
		costmap_2d::Costmap2D *	costmap,
		std::string	frame_id
	)

Constructor for the PipelinePlanner.

Parameters

name	The name of this planner
costmap	A pointer for the costmap

Definition at line 85 of file ppplanner_core.cpp.

pipeline_planner::PipelinePlanner::~PipelinePlanner ( )

Destructor for the planner.

Definition at line 92 of file ppplanner_core.cpp.

Member Function Documentation

void pipeline_planner::PipelinePlanner::calcPipeline	(	const int	numcheckpoints,
		const double *	stonex,
		const double *	stoney,
		const bool	isClose,
		const double *	radii,
		const double *	sradii,
		const double *	eradii,
		const double	origin_x,
		const double	origin_y,
		const unsigned int	costsizex,
		const unsigned int	costsizey,
		const double	resolution,
		int *	data
	)

private

To calculate the pipeline without GPU.

Definition at line 2117 of file ppplanner_core.cpp.

void pipeline_planner::PipelinePlanner::callbackgoal ( const move_base_msgs::MoveBaseActionGoal::ConstPtr & goal )

private

Callback function for reception of actionlib goal.

Parameters

goal	callback message

Definition at line 2194 of file ppplanner_core.cpp.

void pipeline_planner::PipelinePlanner::callbackRobotPose ( const geometry_msgs::Pose::ConstPtr & pose )

private

Callback function for reception of robot position.

Parameters

pose	callback message

Definition at line 2198 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::ConnectPoints	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		const std::vector< int >	segids,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

private

To substitute plan by connecting start point, checkpoints and goal point.

Parameters

start	The start pose
goal	The goal pose
segids	IDs for checkpoints to use
plan	The plan, which will be filled by the function

Returns: True if valid plan is gained

Definition at line 1880 of file ppplanner_core.cpp.

int pipeline_planner::PipelinePlanner::costCheck ( int endpoint )

private

To check received checkpoints whether it has a problem on costmap or not.

Parameters

endpoint The last point of received checkpoints sequence

Returns: values 1:The part of the route made by the check points is off the global costmap.(error) 2:The route includes an obstacle.(permitted) 0:The check points are received.(accepted)

Definition at line 450 of file ppplanner_core.cpp.

int pipeline_planner::PipelinePlanner::CrossTorchArea	(	const double	tx,
		const double	ty,
		const double	sx,
		const double	sy,
		const double	ex,
		const double	ey,
		double &	bx,
		double &	by
	)

private

Whether the line segment crosses the torch area boundary or not.

Parameters

tx	The centre of torch area x
ty	The centre of torch area y
sx	The start of the line segment x
sy	The start of the line segment y
ex	The end of the line segment x
ey	The end of the line segment y
bx	The gained corss point x
by	The gained corss point y

Returns: 0: segment is in the area 1: start point is out of area 2: start is in the area and end is out of area (cross) -1: error -2: the length of pipe segment is too short

Definition at line 2385 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::DistanceFromCentre ( int endpoint )

private

Calculation of cell's distance from pipe centre.

Parameters

endpoint The last point of received checkpoints sequence

Returns: Always true

Definition at line 543 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::DistanceFromCentre_cuda ( int endpoint )

private

Calculation of cell's distance from pipe centre.

Parameters

endpoint The last point of received checkpoints sequence

Returns: Always true

Definition at line 615 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::DrawOpenSegment	(	const geometry_msgs::PoseStamped	init_point,
		const geometry_msgs::PoseStamped	end_point,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

private

To substitute the plan along two points.

Parameters

init_point	Initial point
end_point	End point
plan	The plan, which will be filled by the function

Returns: Always true

Definition at line 1931 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::getCheckpoints	(	pipeline_planner::GetCheckpoints::Request &	req,
		pipeline_planner::GetCheckpoints::Response &	res
	)

inlineprivate

Get check points.

Parameters

req	Dummy argument for input
res	The check points and the open close flag

Returns: Always true

Definition at line 205 of file ppplanner.h.

bool pipeline_planner::PipelinePlanner::getNumofCheckpoints	(	pipeline_planner::GetNumofCheckpoints::Request &	req,
		pipeline_planner::GetNumofCheckpoints::Response &	res
	)

inlineprivate

Get the status of reading checkpoints.

Parameters

req	Dummy argument for input
res	The status of reading checkpoints for output

Returns: Always true

Definition at line 228 of file ppplanner.h.

bool pipeline_planner::PipelinePlanner::getReadStatus	(	pipeline_planner::GetReadStatus::Request &	req,
		pipeline_planner::GetReadStatus::Response &	res
	)

inlineprivate

Get the status of reading checkpoints.

Parameters

req	Dummy argument for input
res	The status of reading checkpoints for output

Returns: Always true

Definition at line 183 of file ppplanner.h.

bool pipeline_planner::PipelinePlanner::getRobotStatus	(	pipeline_planner::GetRobotStatus::Request &	req,
		pipeline_planner::GetRobotStatus::Response &	res
	)

inlineprivate

Get the status of a robot.

Parameters

req	Dummy argument for input
res	The status of a robot for output

Returns: Always true

Definition at line 194 of file ppplanner.h.

bool pipeline_planner::PipelinePlanner::hasNoCross	(	const int	endpoint,
		const std::vector< geometry_msgs::PoseStamped >	check_points
	)

private

To check whether a sequence of checkpoints has a crossing or not.

Parameters

endpoint	The last point of checkpoints sequence. It depends on openclose flag.
check_points	Received checkpoints

Returns: True if the sequence of checkpoints doesn't have a crossing

Definition at line 377 of file ppplanner_core.cpp.

void pipeline_planner::PipelinePlanner::informRobotPose ( )

private

loop for informing the robot position by a thread

Definition at line 2205 of file ppplanner_core.cpp.

void pipeline_planner::PipelinePlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

virtual

Initialisation function for the Planner.

Parameters

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

Implements nav_core::BaseGlobalPlanner.

Definition at line 100 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2D *	costmap,
		std::string	frame_id
	)

Initialisation function for the Planner.

Parameters

name	The name of this planner
costmap	A pointer to the costmap
frame_id	The global frame of the costmap

Definition at line 120 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::InitSegInfo ( )

private

Initialisation of segment info.

Returns: False if one of the distances is too short It is supposed check points and open close flag was well @ received.

Definition at line 715 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::InPipeSegment	(	const geometry_msgs::PoseStamped &	pose,
		double	radius,
		double	start_edge_radius,
		double	end_edge_radius,
		double	tolerance,
		int	index
	)

private

Verification of whether the position is in the pipeline segment or not.

Parameters

pose	The position for verification
radius	The radius of the pipeline
start_edge_radius	The radius for start edge circle
end_edge_radius	The radius for end edge circle
tolerance	The minimum value of the length of the pipeline segment
index	The index of the pipeline segment

Returns: True if the position is in the pipeline segment

Definition at line 1282 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::InquireSegments	(	pipeline_planner::InquireSegments::Request &	req,
		pipeline_planner::InquireSegments::Response &	res
	)

private

Inquiring segments information.

Parameters

req	Dummy argument for input
res	The information of segments

Returns: Always true

Definition at line 762 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::isBehindInaSegment	(	int	idx,
		const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal
	)

private

Whether the goal point is behind the start point in a pipe segment.

Parameters

idx	Index of the pipeline segment
start	Start position
goal	Goal position

Returns: True if the goal is behind the start

Definition at line 1500 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::knowRobotPosition	(	const geometry_msgs::Pose	pose,
		int &	ID,
		double &	distance
	)

private

To know the position of a robot in the pipeline.

Parameters

pose	The position of the robot
ID	ID number for the pipesegment to which the robot belongs
distance	The distance from start check point in the pipe segment to which the robot belongs

Returns: True if the robot is in a pipesegment

Definition at line 1328 of file ppplanner_core.cpp.

void pipeline_planner::PipelinePlanner::makePipeline ( )

private

To make a pipeline and publish it as a topic Pipeline is constructed from check_points_. Validity of checkpoints_ must be checked in advance. Publication data values 0:in the pipeline, 100:out of the pipeline.

Definition at line 1995 of file ppplanner_core.cpp.

void pipeline_planner::PipelinePlanner::makePipeline ( bool legal )

private

Definition at line 2000 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

virtual

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

Parameters

start	The start pose
goal	The goal pose
plan	The plan... filled by the planner

Returns: True if a valid plan was found, false otherwise

Implements nav_core::BaseGlobalPlanner.

Definition at line 986 of file ppplanner_core.cpp.

void pipeline_planner::PipelinePlanner::PublishCheckpointsResult ( std_msgs::UInt32 result )

private

Callback function for subscription of checkpoints data from topic.

Parameters

checkpoints	Checkpoints data from topic checkpoints->header.frame_id is whether the route is closed or not 1:closed, 2:opened Publication of result of reading check points
result	Result status

Definition at line 758 of file ppplanner_core.cpp.

void pipeline_planner::PipelinePlanner::publishPlan ( const std::vector< geometry_msgs::PoseStamped > & path )

private

To publish a path.

Parameters

path	Path to be published

Definition at line 1980 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::ReceiveCheckpoints	(	pipeline_planner::ReceiveCheckpoints::Request &	req,
		pipeline_planner::ReceiveCheckpoints::Response &	res
	)

Reception of checkpoints.

Parameters

req	Checkpoints for reception
res	Status of receiving checkpoints

Returns: Always true

Definition at line 778 of file ppplanner_core.cpp.

void pipeline_planner::PipelinePlanner::reconfigureCB	(	pipeline_planner::PipelinePlannerConfig &	config,
		uint32_t	level
	)

private

Callback function for dynamic reconfiguration.

Parameters

config	The new configuration
level	ORing together level values of the parameters

Definition at line 203 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::SetARadius	(	pipeline_planner::SetARadius::Request &	req,
		pipeline_planner::SetARadius::Response &	res
	)

private

Service to set a pipeline segment radius.

Parameters

req	ID and radius for new pipeline segment radius
res	The result and the updated value for status of reading checkpoints req.ID -1: all pipeline segment others: pipeline segment ID res.result 0: accepted normally (only normal state) 1: ID is not -1, 0 nor positive 2: The value is illegal, id est, other than 0.0 or [0.001,50]. 0.0 means it follows pipe_radius value. 3: A set of checkpoints is empty 4: ID is larger than the number of checkpoints

Returns: always true

Definition at line 264 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::SetARightshift	(	pipeline_planner::SetARightshift::Request &	req,
		pipeline_planner::SetARightshift::Response &	res
	)

private

Service to set a right shift value for a pipeline segment.

Parameters

req	ID and right shift value for the pipeline segment
res	The result. res.result 0: accepted normally (only normal state) 1: ID value is not -1, 0 nor positive 3: A set of checkpoints is empty 4: ID is larger than the number of checkpoints

Returns: always true

Definition at line 340 of file ppplanner_core.cpp.

void pipeline_planner::PipelinePlanner::setCharge ( bool charge )

inline

Definition at line 142 of file ppplanner.h.

void pipeline_planner::PipelinePlanner::setLethal ( unsigned char lethal_cost )

inline

Definition at line 124 of file ppplanner.h.

void pipeline_planner::PipelinePlanner::setNumThread ( float num_threads )

inline

Definition at line 133 of file ppplanner.h.

void pipeline_planner::PipelinePlanner::setPipeRadius ( float radius )

substitute pipe_radius_ value when it is called from dynamic reconfigure

Definition at line 216 of file ppplanner_core.cpp.

void pipeline_planner::PipelinePlanner::setStraight ( bool use_straight )

inline

Definition at line 138 of file ppplanner.h.

void pipeline_planner::PipelinePlanner::setTimeDisplay ( bool time_display )

inline

Definition at line 146 of file ppplanner.h.

void pipeline_planner::PipelinePlanner::setTorchArea	(	bool	use_torch,
		float	torch_area_x,
		float	torch_area_y
	)

inline

Definition at line 150 of file ppplanner.h.

void pipeline_planner::PipelinePlanner::setWeight ( float centre_weight )

inline

Definition at line 128 of file ppplanner.h.

bool pipeline_planner::PipelinePlanner::TakeLocalGoal	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		geometry_msgs::PoseStamped &	local_goal,
		int &	err
	)

private

To make local goal on torch model.

Parameters

start	The start pose
goal	The goal pose
local_goal	The local goal calculated by the function
err	Error code 0: no error 1: use_torch is not used 2: start position is out of pipeline 3: goal position is out of pipeline 4: the length of a pipesegment is too short 5: unexpected error, torch area might be too narrow with respect to the pipeline radius 6: start point is out of torch area

Returns: True if there is no error we only use this function when we use torch model

Definition at line 2259 of file ppplanner_core.cpp.

double pipeline_planner::PipelinePlanner::TakeSegmentRadius ( const double contained_radius )

private

Taking pipline radius in a given pipeline segment.

Parameters

contained_radius Contained value of the radius. If it is 0.0 we use pipe_radius_ as a segment radius.

Returns: Gained value

Definition at line 2426 of file ppplanner_core.cpp.

void pipeline_planner::PipelinePlanner::ThreadNumberAdjusment ( bool debug )

private

Definition at line 2437 of file ppplanner_core.cpp.

void pipeline_planner::PipelinePlanner::TimeDisplay	(	const bool	time_display,
		const double	duration
	)

private

Display consumed time on makePlan function.

Parameters

time_display	whether it will be displayed on terminal or not
duration	Duration time

Definition at line 2247 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::VeilCostmap	(	const std::vector< int >	segids,
		const int	startindex,
		const int	goalindex,
		const geometry_msgs::PoseStamped &	start
	)

private

To veil costmap other than that in pipeline segments.

Parameters

segids	IDs for pipe segments to use
startindex	Index for start pipe segment
goalindex	Index for goal pipe segment
start	Start point or current robot point

Returns: always True

Definition at line 1528 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::VeilCostmap_cuda	(	const std::vector< int >	segids,
		const int	startindex,
		const int	goalindex,
		const geometry_msgs::PoseStamped &	start
	)

private

To veil costmap other than that in pipeline segments.

Parameters

segids	IDs for pipe segments to use
startindex	Index for start pipe segment
goalindex	Index for goal pipe segment
start	Start point or current robot point

Returns: always True

Definition at line 1701 of file ppplanner_core.cpp.

bool pipeline_planner::PipelinePlanner::whereInaPipeSegment	(	const geometry_msgs::Pose	pose,
		const int	id,
		const double	radius,
		const double	sradius,
		const double	eradius,
		int &	part,
		double &	dist,
		double	tolerance
	)

private

To know the position of a robot in a pipe segment.

Parameters

pose	The pose of the robot
id	The ID for a pipe segment
part	Which part in a segment. 1: in the pipe segment 2: in the start circle 3: in the end circle 0: others, especially for errors or out of the pipe segment area
dist	Distance to indicate the position

Returns: True if the robot is in the pipe segment

Definition at line 1440 of file ppplanner_core.cpp.

Member Data Documentation

double pipeline_planner::PipelinePlanner::centre_weight_

private

Definition at line 540 of file ppplanner.h.

bool pipeline_planner::PipelinePlanner::charge_

private

Definition at line 556 of file ppplanner.h.

std::vector<geometry_msgs::PoseStamped> pipeline_planner::PipelinePlanner::check_points_

private

Definition at line 505 of file ppplanner.h.

std_msgs::Float32 pipeline_planner::PipelinePlanner::consumed_time_

private

Definition at line 562 of file ppplanner.h.

costmap_2d::Costmap2D* pipeline_planner::PipelinePlanner::costmap_

private

Definition at line 504 of file ppplanner.h.

bool pipeline_planner::PipelinePlanner::debug

private

Definition at line 573 of file ppplanner.h.

std::vector<double> pipeline_planner::PipelinePlanner::dist_from_pipe_centre_

private

Definition at line 375 of file ppplanner.h.

dynamic_reconfigure::Server<pipeline_planner::PipelinePlannerConfig>* pipeline_planner::PipelinePlanner::dsrv_

private

Definition at line 377 of file ppplanner.h.

bool pipeline_planner::PipelinePlanner::fix_pipe_radius_

private

Definition at line 558 of file ppplanner.h.

std::string pipeline_planner::PipelinePlanner::gained_frame_id_

private

Definition at line 503 of file ppplanner.h.

ros::ServiceServer pipeline_planner::PipelinePlanner::get_checkpoints_srv_

private

Definition at line 546 of file ppplanner.h.

ros::ServiceServer pipeline_planner::PipelinePlanner::get_numof_checkpoints_srv_

private

Definition at line 547 of file ppplanner.h.

bool pipeline_planner::PipelinePlanner::initialized_

private

Definition at line 502 of file ppplanner.h.

ros::ServiceServer pipeline_planner::PipelinePlanner::inquire_segments_srv_

private

Definition at line 548 of file ppplanner.h.

unsigned char pipeline_planner::PipelinePlanner::lethal_cost_

private

Definition at line 539 of file ppplanner.h.

boost::mutex pipeline_planner::PipelinePlanner::mutex_robot_position_

private

Definition at line 565 of file ppplanner.h.

std::string pipeline_planner::PipelinePlanner::name_

private

Definition at line 514 of file ppplanner.h.

costmap_2d::Costmap2D* pipeline_planner::PipelinePlanner::navfn_costmap_

private

Definition at line 513 of file ppplanner.h.

navfn::NavfnROS* pipeline_planner::PipelinePlanner::navfn_planner_

private

Definition at line 512 of file ppplanner.h.

int pipeline_planner::PipelinePlanner::num_threads_

private

Definition at line 597 of file ppplanner.h.

int pipeline_planner::PipelinePlanner::openclose_

private

Definition at line 542 of file ppplanner.h.

double pipeline_planner::PipelinePlanner::pipe_radius_

private

Definition at line 537 of file ppplanner.h.

nav_msgs::OccupancyGrid pipeline_planner::PipelinePlanner::pipeline_

private

Definition at line 506 of file ppplanner.h.

ros::Publisher pipeline_planner::PipelinePlanner::pub_initialised_

private

Definition at line 535 of file ppplanner.h.

ros::Publisher pipeline_planner::PipelinePlanner::pub_pipeline_

private

Definition at line 536 of file ppplanner.h.

ros::Publisher pipeline_planner::PipelinePlanner::pub_plan_

private

Definition at line 533 of file ppplanner.h.

ros::Publisher pipeline_planner::PipelinePlanner::pub_result_

private

Definition at line 531 of file ppplanner.h.

ros::Publisher pipeline_planner::PipelinePlanner::pub_robot_position_

private

Definition at line 534 of file ppplanner.h.

ros::Publisher pipeline_planner::PipelinePlanner::pub_status_

private

Definition at line 532 of file ppplanner.h.

ros::Publisher pipeline_planner::PipelinePlanner::pub_time_

private

Definition at line 567 of file ppplanner.h.

ros::ServiceServer pipeline_planner::PipelinePlanner::read_state_srv_

private

Definition at line 544 of file ppplanner.h.

std_msgs::UInt32 pipeline_planner::PipelinePlanner::read_status_

private

Definition at line 520 of file ppplanner.h.

ros::ServiceServer pipeline_planner::PipelinePlanner::receive_checkpoints_srv_

private

Definition at line 549 of file ppplanner.h.

geometry_msgs::Pose pipeline_planner::PipelinePlanner::robot_position_

private

Definition at line 564 of file ppplanner.h.

ros::ServiceServer pipeline_planner::PipelinePlanner::robot_state_srv_

private

Definition at line 545 of file ppplanner.h.

std_msgs::UInt32 pipeline_planner::PipelinePlanner::robot_status_

private

Definition at line 530 of file ppplanner.h.

std::vector<pipeline_planner::SegmentInfo> pipeline_planner::PipelinePlanner::segment_infos_

private

Definition at line 508 of file ppplanner.h.

std::vector<double> pipeline_planner::PipelinePlanner::segment_lengths_

private

Definition at line 507 of file ppplanner.h.

ros::ServiceServer pipeline_planner::PipelinePlanner::set_a_radius_srv_

private

Definition at line 550 of file ppplanner.h.

ros::ServiceServer pipeline_planner::PipelinePlanner::set_a_rightshift_srv_

private

Definition at line 551 of file ppplanner.h.

ros::Subscriber pipeline_planner::PipelinePlanner::sub_movebase_goal_

private

Definition at line 568 of file ppplanner.h.

ros::Subscriber pipeline_planner::PipelinePlanner::sub_robot_pose_

private

Definition at line 510 of file ppplanner.h.

boost::thread* pipeline_planner::PipelinePlanner::thread_robot_position_

private

Definition at line 552 of file ppplanner.h.

bool pipeline_planner::PipelinePlanner::time_display_

private

Definition at line 560 of file ppplanner.h.

double pipeline_planner::PipelinePlanner::tolerance_

private

Definition at line 543 of file ppplanner.h.

double pipeline_planner::PipelinePlanner::torch_area_x_

private

Definition at line 571 of file ppplanner.h.

double pipeline_planner::PipelinePlanner::torch_area_y_

private

Definition at line 571 of file ppplanner.h.

bool pipeline_planner::PipelinePlanner::use_straight_

private

Definition at line 555 of file ppplanner.h.

bool pipeline_planner::PipelinePlanner::use_torch_

private

Definition at line 570 of file ppplanner.h.

bool pipeline_planner::PipelinePlanner::willDisplay_

private

Definition at line 561 of file ppplanner.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation