sbpl_recovery.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef SBPL_RECOVERY_SBPL_RECOVERY_H_
38 #define SBPL_RECOVERY_SBPL_RECOVERY_H_
39 
40 #include <ros/ros.h>
45 #include <geometry_msgs/PoseStamped.h>
46 #include <nav_msgs/Path.h>
47 #include <boost/thread.hpp>
49 
50 namespace sbpl_recovery
51 {
53  {
54  public:
55  SBPLRecovery();
56 
57  // Initialize the parameters of the behavior
58  void initialize (std::string n, tf::TransformListener* tf,
59  costmap_2d::Costmap2DROS* global_costmap,
60  costmap_2d::Costmap2DROS* local_costmap);
61 
62  // Run the behavior
63  void runBehavior();
64 
65  private:
66  void planCB(const nav_msgs::Path::ConstPtr& plan);
67  double sqDistance(const geometry_msgs::PoseStamped& p1,
68  const geometry_msgs::PoseStamped& p2);
69  std::vector<geometry_msgs::PoseStamped> makePlan();
70 
79  boost::mutex plan_mutex_;
80  nav_msgs::Path plan_;
84  };
85 
86 };
87 #endif
costmap_2d::Costmap2DROS * local_costmap_
Definition: sbpl_recovery.h:72
sbpl_lattice_planner::SBPLLatticePlanner global_planner_
Definition: sbpl_recovery.h:74
tf::TransformListener * tf_
Definition: sbpl_recovery.h:73
costmap_2d::Costmap2DROS * global_costmap_
Definition: sbpl_recovery.h:71
pose_follower::PoseFollower local_planner_
Definition: sbpl_recovery.h:75
void initialize(std::string n, tf::TransformListener *tf, costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap)
std::vector< geometry_msgs::PoseStamped > makePlan()
double sqDistance(const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2)
void planCB(const nav_msgs::Path::ConstPtr &plan)


sbpl_recovery
Author(s): Eitan Marder-Eppstein
autogenerated on Mon Jun 22 2020 03:18:19