Provides an interface for recovery behaviors used in navigation. All recovery behaviors written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_corebased plugins, providing backward compatibility. More...
#include <costmap_recovery.h>
Public Types | |
typedef boost::shared_ptr< ::mbf_costmap_core::CostmapRecovery > | Ptr |
Public Types inherited from mbf_abstract_core::AbstractRecovery | |
typedef boost::shared_ptr< ::mbf_abstract_core::AbstractRecovery > | Ptr |
Public Member Functions | |
virtual bool | cancel ()=0 |
Requests the planner to cancel, e.g. if it takes too much time. More... | |
virtual void | initialize (std::string name, TF *tf, costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap)=0 |
Initialization function for the CostmapRecovery. More... | |
virtual uint32_t | runBehavior (std::string &message)=0 |
Runs the CostmapRecovery. More... | |
virtual | ~CostmapRecovery () |
Virtual destructor for the interface. More... | |
Public Member Functions inherited from mbf_abstract_core::AbstractRecovery | |
virtual | ~AbstractRecovery () |
Protected Member Functions | |
CostmapRecovery () | |
Protected Member Functions inherited from mbf_abstract_core::AbstractRecovery | |
AbstractRecovery () | |
Provides an interface for recovery behaviors used in navigation. All recovery behaviors written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_corebased plugins, providing backward compatibility.
Definition at line 54 of file costmap_recovery.h.
typedef boost::shared_ptr< ::mbf_costmap_core::CostmapRecovery> mbf_costmap_core::CostmapRecovery::Ptr |
Definition at line 57 of file costmap_recovery.h.
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inlinevirtual |
Virtual destructor for the interface.
Definition at line 86 of file costmap_recovery.h.
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inlineprotected |
Definition at line 89 of file costmap_recovery.h.
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pure virtual |
Requests the planner to cancel, e.g. if it takes too much time.
Implements mbf_abstract_core::AbstractRecovery.
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pure virtual |
Initialization function for the CostmapRecovery.
tf | A pointer to a transform listener |
global_costmap | A pointer to the global_costmap used by the navigation stack |
local_costmap | A pointer to the local_costmap used by the navigation stack |
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pure virtual |
Runs the CostmapRecovery.
message | The recovery behavior could set, the message should correspond to the return value |
Implements mbf_abstract_core::AbstractRecovery.