Public Types | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | List of all members
planner_cspace::planner_3d::Planner3dNode Class Reference

Public Types

using Astar = GridAstar< 3, 2 >
 

Public Member Functions

GridAstarModel3D::Vec pathPose2Grid (const geometry_msgs::PoseStamped &pose) const
 
 Planner3dNode ()
 
void spin ()
 
void waitUntil (const ros::Time &next_replan_time, const nav_msgs::Path &previous_path)
 

Protected Types

enum  DiscretePoseStatus { DiscretePoseStatus::OK, DiscretePoseStatus::RELOCATED, DiscretePoseStatus::IN_ROCK, DiscretePoseStatus::OUT_OF_MAP }
 
using Planner3DActionServer = actionlib::SimpleActionServer< move_base_msgs::MoveBaseAction >
 
using Planner3DTolerantActionServer = actionlib::SimpleActionServer< planner_cspace_msgs::MoveWithToleranceAction >
 

Protected Member Functions

void cbAction ()
 
bool cbForget (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)
 
void cbGoal (const geometry_msgs::PoseStamped::ConstPtr &msg)
 
bool cbMakePlan (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res)
 
void cbMap (const costmap_cspace_msgs::CSpace3D::ConstPtr &msg)
 
void cbMapUpdate (const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr &msg)
 
void cbPreempt ()
 
void cbTolerantAction ()
 
void clearHysteresis ()
 
void diagnoseStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)
 
void fillCostmap (reservable_priority_queue< Astar::PriorityVec > &open, Astar::Gridmap< float > &g, const Astar::Vec &s, const Astar::Vec &e)
 
int getSwitchIndex (const nav_msgs::Path &path) const
 
bool makePlan (const geometry_msgs::Pose &gs, const geometry_msgs::Pose &ge, nav_msgs::Path &path, bool hyst)
 
void publishDebug ()
 
void publishEmptyPath ()
 
void publishRememberedMap ()
 
DiscretePoseStatus relocateDiscretePoseIfNeeded (Astar::Vec &pose_discrete, const int tolerance_range, const int tolerance_angle, bool use_cm_rough=false) const
 
template<class T >
DiscretePoseStatus relocateDiscretePoseIfNeededImpl (const T &cm, const int tolerance_range, const int tolerance_angle, Astar::Vec &pose_discrete) const
 
template<class T >
bool searchAvailablePos (const T &cm, Astar::Vec &s, const int xy_range, const int angle_range, const int cost_acceptable=50, const int min_xy_range=0) const
 
bool setGoal (const geometry_msgs::PoseStamped &msg)
 
bool updateGoal (const bool goal_changed=true)
 
void updateStart ()
 

Protected Attributes

std::shared_ptr< Planner3DActionServer > act_
 
std::shared_ptr< Planner3DTolerantActionServer > act_tolerant_
 
bool antialias_start_
 
Astar as_
 
CostmapBBF bbf_costmap_
 
CostCoeff cc_
 
Astar::Gridmap< char, 0x40 > cm_
 
Astar::Gridmap< char, 0x40 > cm_base_
 
Astar::Gridmap< char, 0x80 > cm_hyst_
 
Astar::Gridmap< char, 0x80 > cm_rough_
 
Astar::Gridmap< char, 0x80 > cm_rough_base_
 
Astar::Gridmap< char, 0x80 > cm_updates_
 
int cnt_stuck_
 
Astar::Gridmap< float > cost_estim_cache_
 
ros::Duration costmap_watchdog_
 
diagnostic_updater::Updater diag_updater_
 
Astar::Vecf ec_
 
int esc_angle_
 
int esc_range_
 
double esc_range_f_
 
bool escaping_
 
std::array< float, 1024 > euclid_cost_lin_cache_
 
bool fast_map_update_
 
bool find_best_
 
bool force_goal_orientation_
 
float freq_
 
float freq_min_
 
geometry_msgs::PoseStamped goal_
 
geometry_msgs::PoseStamped goal_raw_
 
int goal_tolerance_ang_
 
double goal_tolerance_ang_f_
 
double goal_tolerance_ang_finish_
 
int goal_tolerance_lin_
 
double goal_tolerance_lin_f_
 
planner_cspace_msgs::MoveWithToleranceGoalConstPtr goal_tolerant_
 
bool goal_updated_
 
bool has_goal_
 
bool has_hysteresis_map_
 
bool has_map_
 
bool has_start_
 
int hist_ignore_range_
 
double hist_ignore_range_f_
 
int hist_ignore_range_max_
 
double hist_ignore_range_max_f_
 
std::vector< Astar::Vec > hyst_updated_cells_
 
bool is_path_switchback_
 
JumpDetector jump_
 
ros::Time last_costmap_
 
int local_range_
 
double local_range_f_
 
int longcut_range_
 
double longcut_range_f_
 
std_msgs::Header map_header_
 
costmap_cspace_msgs::MapMetaData3D map_info_
 
int max_retry_num_
 
GridAstarModel3D::Ptr model_
 
ros::NodeHandle nh_
 
int num_cost_estim_task_
 
int num_task_
 
bool overwrite_cost_
 
ros::NodeHandle pnh_
 
reservable_priority_queue< Astar::PriorityVec > pq_erase_
 
reservable_priority_queue< Astar::PriorityVec > pq_open_
 
int prev_map_update_x_max_
 
int prev_map_update_x_min_
 
int prev_map_update_y_max_
 
int prev_map_update_y_min_
 
ros::Publisher pub_distance_map_
 
ros::Publisher pub_end_
 
ros::Publisher pub_hysteresis_map_
 
ros::Publisher pub_path_
 
ros::Publisher pub_path_poses_
 
ros::Publisher pub_path_velocity_
 
ros::Publisher pub_remembered_map_
 
ros::Publisher pub_start_
 
ros::Publisher pub_status_
 
int range_
 
float remember_hit_odds_
 
float remember_miss_odds_
 
bool remember_updates_
 
bool retain_last_error_status_
 
std::string robot_frame_
 
bool rough_
 
float rough_cost_max_
 
std::vector< Astar::Vec > search_list_
 
std::vector< Astar::Vec > search_list_rough_
 
float search_range_
 
float search_timeout_abort_
 
ros::ServiceServer srs_forget_
 
ros::ServiceServer srs_make_plan_
 
geometry_msgs::PoseStamped start_
 
planner_cspace_msgs::PlannerStatus status_
 
ros::Subscriber sub_goal_
 
ros::Subscriber sub_map_
 
ros::Subscriber sub_map_update_
 
geometry_msgs::PoseStamped sw_pos_
 
float sw_wait_
 
bool temporary_escape_
 
tf2_ros::Buffer tfbuf_
 
tf2_ros::TransformListener tfl_
 
int tolerance_angle_
 
double tolerance_angle_f_
 
int tolerance_range_
 
double tolerance_range_f_
 
int unknown_cost_
 
bool use_path_with_velocity_
 

Detailed Description

Definition at line 82 of file planner_3d.cpp.

Member Typedef Documentation

using planner_cspace::planner_3d::Planner3dNode::Astar = GridAstar<3, 2>

Definition at line 85 of file planner_3d.cpp.

using planner_cspace::planner_3d::Planner3dNode::Planner3DActionServer = actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction>
protected

Definition at line 88 of file planner_3d.cpp.

using planner_cspace::planner_3d::Planner3dNode::Planner3DTolerantActionServer = actionlib::SimpleActionServer<planner_cspace_msgs::MoveWithToleranceAction>
protected

Definition at line 89 of file planner_3d.cpp.

Member Enumeration Documentation

enum planner_cspace::planner_3d::Planner3dNode::DiscretePoseStatus
strongprotected
Enumerator
OK 
RELOCATED 
IN_ROCK 
OUT_OF_MAP 

Definition at line 226 of file planner_3d.cpp.

Constructor & Destructor Documentation

planner_cspace::planner_3d::Planner3dNode::Planner3dNode ( )
inline

Definition at line 1224 of file planner_3d.cpp.

Member Function Documentation

void planner_cspace::planner_3d::Planner3dNode::cbAction ( )
inlineprotected

Definition at line 1170 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::cbForget ( std_srvs::EmptyRequest &  req,
std_srvs::EmptyResponse &  res 
)
inlineprotected

Definition at line 217 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::cbGoal ( const geometry_msgs::PoseStamped::ConstPtr &  msg)
inlineprotected

Definition at line 370 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::cbMakePlan ( nav_msgs::GetPlan::Request &  req,
nav_msgs::GetPlan::Response &  res 
)
inlineprotected

Definition at line 268 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::cbMap ( const costmap_cspace_msgs::CSpace3D::ConstPtr &  msg)
inlineprotected

Definition at line 1057 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::cbMapUpdate ( const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr &  msg)
inlineprotected

Definition at line 843 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::cbPreempt ( )
inlineprotected

Definition at line 379 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::cbTolerantAction ( )
inlineprotected

Definition at line 1183 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::clearHysteresis ( )
inlineprotected

Definition at line 737 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::diagnoseStatus ( diagnostic_updater::DiagnosticStatusWrapper &  stat)
inlineprotected

Definition at line 1947 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::fillCostmap ( reservable_priority_queue< Astar::PriorityVec > &  open,
Astar::Gridmap< float > &  g,
const Astar::Vec &  s,
const Astar::Vec &  e 
)
inlineprotected

Definition at line 432 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::getSwitchIndex ( const nav_msgs::Path &  path) const
inlineprotected

Definition at line 1914 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::makePlan ( const geometry_msgs::Pose &  gs,
const geometry_msgs::Pose &  ge,
nav_msgs::Path &  path,
bool  hyst 
)
inlineprotected

Definition at line 1623 of file planner_3d.cpp.

GridAstarModel3D::Vec planner_cspace::planner_3d::Planner3dNode::pathPose2Grid ( const geometry_msgs::PoseStamped &  pose) const
inline

Definition at line 1397 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::publishDebug ( )
inlineprotected

Definition at line 745 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::publishEmptyPath ( )
inlineprotected

Definition at line 826 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::publishRememberedMap ( )
inlineprotected

Definition at line 805 of file planner_3d.cpp.

DiscretePoseStatus planner_cspace::planner_3d::Planner3dNode::relocateDiscretePoseIfNeeded ( Astar::Vec &  pose_discrete,
const int  tolerance_range,
const int  tolerance_angle,
bool  use_cm_rough = false 
) const
inlineprotected

Definition at line 252 of file planner_3d.cpp.

template<class T >
DiscretePoseStatus planner_cspace::planner_3d::Planner3dNode::relocateDiscretePoseIfNeededImpl ( const T &  cm,
const int  tolerance_range,
const int  tolerance_angle,
Astar::Vec &  pose_discrete 
) const
inlineprotected

Definition at line 234 of file planner_3d.cpp.

template<class T >
bool planner_cspace::planner_3d::Planner3dNode::searchAvailablePos ( const T &  cm,
Astar::Vec &  s,
const int  xy_range,
const int  angle_range,
const int  cost_acceptable = 50,
const int  min_xy_range = 0 
) const
inlineprotected

Definition at line 597 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::setGoal ( const geometry_msgs::PoseStamped &  msg)
inlineprotected

Definition at line 392 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::spin ( )
inline

Definition at line 1461 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::updateGoal ( const bool  goal_changed = true)
inlineprotected

Definition at line 651 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::updateStart ( )
inlineprotected

Definition at line 1196 of file planner_3d.cpp.

void planner_cspace::planner_3d::Planner3dNode::waitUntil ( const ros::Time &  next_replan_time,
const nav_msgs::Path &  previous_path 
)
inline

Definition at line 1406 of file planner_3d.cpp.

Member Data Documentation

std::shared_ptr<Planner3DActionServer> planner_cspace::planner_3d::Planner3dNode::act_
protected

Definition at line 108 of file planner_3d.cpp.

std::shared_ptr<Planner3DTolerantActionServer> planner_cspace::planner_3d::Planner3dNode::act_tolerant_
protected

Definition at line 109 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::antialias_start_
protected

Definition at line 133 of file planner_3d.cpp.

Astar planner_cspace::planner_3d::Planner3dNode::as_
protected

Definition at line 114 of file planner_3d.cpp.

CostmapBBF planner_cspace::planner_3d::Planner3dNode::bbf_costmap_
protected

Definition at line 122 of file planner_3d.cpp.

CostCoeff planner_cspace::planner_3d::Planner3dNode::cc_
protected

Definition at line 177 of file planner_3d.cpp.

Astar::Gridmap<char, 0x40> planner_cspace::planner_3d::Planner3dNode::cm_
protected

Definition at line 115 of file planner_3d.cpp.

Astar::Gridmap<char, 0x40> planner_cspace::planner_3d::Planner3dNode::cm_base_
protected

Definition at line 117 of file planner_3d.cpp.

Astar::Gridmap<char, 0x80> planner_cspace::planner_3d::Planner3dNode::cm_hyst_
protected

Definition at line 119 of file planner_3d.cpp.

Astar::Gridmap<char, 0x80> planner_cspace::planner_3d::Planner3dNode::cm_rough_
protected

Definition at line 116 of file planner_3d.cpp.

Astar::Gridmap<char, 0x80> planner_cspace::planner_3d::Planner3dNode::cm_rough_base_
protected

Definition at line 118 of file planner_3d.cpp.

Astar::Gridmap<char, 0x80> planner_cspace::planner_3d::Planner3dNode::cm_updates_
protected

Definition at line 120 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::cnt_stuck_
protected

Definition at line 203 of file planner_3d.cpp.

Astar::Gridmap<float> planner_cspace::planner_3d::Planner3dNode::cost_estim_cache_
protected

Definition at line 121 of file planner_3d.cpp.

ros::Duration planner_cspace::planner_3d::Planner3dNode::costmap_watchdog_
protected

Definition at line 206 of file planner_3d.cpp.

diagnostic_updater::Updater planner_cspace::planner_3d::Planner3dNode::diag_updater_
protected

Definition at line 205 of file planner_3d.cpp.

Astar::Vecf planner_cspace::planner_3d::Planner3dNode::ec_
protected

Definition at line 182 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::esc_angle_
protected

Definition at line 140 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::esc_range_
protected

Definition at line 139 of file planner_3d.cpp.

double planner_cspace::planner_3d::Planner3dNode::esc_range_f_
protected

Definition at line 141 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::escaping_
protected

Definition at line 201 of file planner_3d.cpp.

std::array<float, 1024> planner_cspace::planner_3d::Planner3dNode::euclid_cost_lin_cache_
protected

Definition at line 125 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::fast_map_update_
protected

Definition at line 155 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::find_best_
protected

Definition at line 191 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::force_goal_orientation_
protected

Definition at line 199 of file planner_3d.cpp.

float planner_cspace::planner_3d::Planner3dNode::freq_
protected

Definition at line 129 of file planner_3d.cpp.

float planner_cspace::planner_3d::Planner3dNode::freq_min_
protected

Definition at line 130 of file planner_3d.cpp.

geometry_msgs::PoseStamped planner_cspace::planner_3d::Planner3dNode::goal_
protected

Definition at line 180 of file planner_3d.cpp.

geometry_msgs::PoseStamped planner_cspace::planner_3d::Planner3dNode::goal_raw_
protected

Definition at line 181 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::goal_tolerance_ang_
protected

Definition at line 187 of file planner_3d.cpp.

double planner_cspace::planner_3d::Planner3dNode::goal_tolerance_ang_f_
protected

Definition at line 184 of file planner_3d.cpp.

double planner_cspace::planner_3d::Planner3dNode::goal_tolerance_ang_finish_
protected

Definition at line 185 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::goal_tolerance_lin_
protected

Definition at line 186 of file planner_3d.cpp.

double planner_cspace::planner_3d::Planner3dNode::goal_tolerance_lin_f_
protected

Definition at line 183 of file planner_3d.cpp.

planner_cspace_msgs::MoveWithToleranceGoalConstPtr planner_cspace::planner_3d::Planner3dNode::goal_tolerant_
protected

Definition at line 110 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::goal_updated_
protected

Definition at line 153 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::has_goal_
protected

Definition at line 149 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::has_hysteresis_map_
protected

Definition at line 151 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::has_map_
protected

Definition at line 148 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::has_start_
protected

Definition at line 150 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::hist_ignore_range_
protected

Definition at line 159 of file planner_3d.cpp.

double planner_cspace::planner_3d::Planner3dNode::hist_ignore_range_f_
protected

Definition at line 158 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::hist_ignore_range_max_
protected

Definition at line 161 of file planner_3d.cpp.

double planner_cspace::planner_3d::Planner3dNode::hist_ignore_range_max_f_
protected

Definition at line 160 of file planner_3d.cpp.

std::vector<Astar::Vec> planner_cspace::planner_3d::Planner3dNode::hyst_updated_cells_
protected

Definition at line 152 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::is_path_switchback_
protected

Definition at line 194 of file planner_3d.cpp.

JumpDetector planner_cspace::planner_3d::Planner3dNode::jump_
protected

Definition at line 168 of file planner_3d.cpp.

ros::Time planner_cspace::planner_3d::Planner3dNode::last_costmap_
protected

Definition at line 207 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::local_range_
protected

Definition at line 135 of file planner_3d.cpp.

double planner_cspace::planner_3d::Planner3dNode::local_range_f_
protected

Definition at line 136 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::longcut_range_
protected

Definition at line 137 of file planner_3d.cpp.

double planner_cspace::planner_3d::Planner3dNode::longcut_range_f_
protected

Definition at line 138 of file planner_3d.cpp.

std_msgs::Header planner_cspace::planner_3d::Planner3dNode::map_header_
protected

Definition at line 128 of file planner_3d.cpp.

costmap_cspace_msgs::MapMetaData3D planner_cspace::planner_3d::Planner3dNode::map_info_
protected

Definition at line 127 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::max_retry_num_
protected

Definition at line 171 of file planner_3d.cpp.

GridAstarModel3D::Ptr planner_cspace::planner_3d::Planner3dNode::model_
protected

Definition at line 124 of file planner_3d.cpp.

ros::NodeHandle planner_cspace::planner_3d::Planner3dNode::nh_
protected

Definition at line 91 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::num_cost_estim_task_
protected

Definition at line 174 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::num_task_
protected

Definition at line 173 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::overwrite_cost_
protected

Definition at line 147 of file planner_3d.cpp.

ros::NodeHandle planner_cspace::planner_3d::Planner3dNode::pnh_
protected

Definition at line 92 of file planner_3d.cpp.

reservable_priority_queue<Astar::PriorityVec> planner_cspace::planner_3d::Planner3dNode::pq_erase_
protected

Definition at line 215 of file planner_3d.cpp.

reservable_priority_queue<Astar::PriorityVec> planner_cspace::planner_3d::Planner3dNode::pq_open_
protected

Definition at line 214 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::prev_map_update_x_max_
protected

Definition at line 210 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::prev_map_update_x_min_
protected

Definition at line 209 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::prev_map_update_y_max_
protected

Definition at line 212 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::prev_map_update_y_min_
protected

Definition at line 211 of file planner_3d.cpp.

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_distance_map_
protected

Definition at line 100 of file planner_3d.cpp.

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_end_
protected

Definition at line 103 of file planner_3d.cpp.

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_hysteresis_map_
protected

Definition at line 99 of file planner_3d.cpp.

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_path_
protected

Definition at line 96 of file planner_3d.cpp.

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_path_poses_
protected

Definition at line 98 of file planner_3d.cpp.

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_path_velocity_
protected

Definition at line 97 of file planner_3d.cpp.

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_remembered_map_
protected

Definition at line 101 of file planner_3d.cpp.

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_start_
protected

Definition at line 102 of file planner_3d.cpp.

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_status_
protected

Definition at line 104 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::range_
protected

Definition at line 134 of file planner_3d.cpp.

float planner_cspace::planner_3d::Planner3dNode::remember_hit_odds_
protected

Definition at line 163 of file planner_3d.cpp.

float planner_cspace::planner_3d::Planner3dNode::remember_miss_odds_
protected

Definition at line 164 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::remember_updates_
protected

Definition at line 154 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::retain_last_error_status_
protected

Definition at line 166 of file planner_3d.cpp.

std::string planner_cspace::planner_3d::Planner3dNode::robot_frame_
protected

Definition at line 169 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::rough_
protected

Definition at line 197 of file planner_3d.cpp.

float planner_cspace::planner_3d::Planner3dNode::rough_cost_max_
protected

Definition at line 196 of file planner_3d.cpp.

std::vector<Astar::Vec> planner_cspace::planner_3d::Planner3dNode::search_list_
protected

Definition at line 156 of file planner_3d.cpp.

std::vector<Astar::Vec> planner_cspace::planner_3d::Planner3dNode::search_list_rough_
protected

Definition at line 157 of file planner_3d.cpp.

float planner_cspace::planner_3d::Planner3dNode::search_range_
protected

Definition at line 132 of file planner_3d.cpp.

float planner_cspace::planner_3d::Planner3dNode::search_timeout_abort_
protected

Definition at line 131 of file planner_3d.cpp.

ros::ServiceServer planner_cspace::planner_3d::Planner3dNode::srs_forget_
protected

Definition at line 105 of file planner_3d.cpp.

ros::ServiceServer planner_cspace::planner_3d::Planner3dNode::srs_make_plan_
protected

Definition at line 106 of file planner_3d.cpp.

geometry_msgs::PoseStamped planner_cspace::planner_3d::Planner3dNode::start_
protected

Definition at line 179 of file planner_3d.cpp.

planner_cspace_msgs::PlannerStatus planner_cspace::planner_3d::Planner3dNode::status_
protected

Definition at line 189 of file planner_3d.cpp.

ros::Subscriber planner_cspace::planner_3d::Planner3dNode::sub_goal_
protected

Definition at line 95 of file planner_3d.cpp.

ros::Subscriber planner_cspace::planner_3d::Planner3dNode::sub_map_
protected

Definition at line 93 of file planner_3d.cpp.

ros::Subscriber planner_cspace::planner_3d::Planner3dNode::sub_map_update_
protected

Definition at line 94 of file planner_3d.cpp.

geometry_msgs::PoseStamped planner_cspace::planner_3d::Planner3dNode::sw_pos_
protected

Definition at line 193 of file planner_3d.cpp.

float planner_cspace::planner_3d::Planner3dNode::sw_wait_
protected

Definition at line 192 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::temporary_escape_
protected

Definition at line 162 of file planner_3d.cpp.

tf2_ros::Buffer planner_cspace::planner_3d::Planner3dNode::tfbuf_
protected

Definition at line 111 of file planner_3d.cpp.

tf2_ros::TransformListener planner_cspace::planner_3d::Planner3dNode::tfl_
protected

Definition at line 112 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::tolerance_angle_
protected

Definition at line 143 of file planner_3d.cpp.

double planner_cspace::planner_3d::Planner3dNode::tolerance_angle_f_
protected

Definition at line 145 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::tolerance_range_
protected

Definition at line 142 of file planner_3d.cpp.

double planner_cspace::planner_3d::Planner3dNode::tolerance_range_f_
protected

Definition at line 144 of file planner_3d.cpp.

int planner_cspace::planner_3d::Planner3dNode::unknown_cost_
protected

Definition at line 146 of file planner_3d.cpp.

bool planner_cspace::planner_3d::Planner3dNode::use_path_with_velocity_
protected

Definition at line 165 of file planner_3d.cpp.

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

planner_cspace
Author(s): Atsushi Watanabe
autogenerated on Wed May 12 2021 02:20:43