#include <footstep_graph.h>

Inheritance diagram for jsk_footstep_planner::FootstepGraph:

Public Types
typedef boost::function< double(StatePtr, StatePtr, double) >	PathCostFunction

typedef boost::shared_ptr< FootstepGraph >	Ptr

typedef boost::function< bool(StatePtr target_state, std::vector< StatePtr > &) >	SuccessorFunction

Public Types inherited from jsk_footstep_planner::Graph< FootstepState >
typedef boost::shared_ptr< Graph >	Ptr

typedef boost::shared_ptr< StateT >	StatePtr

typedef FootstepState	StateT

Public Member Functions
virtual void	clearPerceptionDuration ()

bool	finalizeSteps (const StatePtr &last_1_Step, const StatePtr &lastStep, std::vector< StatePtr > &finalizeSteps)

	FootstepGraph (const Eigen::Vector3f &resolution, const bool use_pointcloud_model=false, const bool lazy_projection=true, const bool local_movement=false, const bool use_obstacle_model=false)

virtual TransitionLimit::Ptr	getGlobalTransitionLimit ()

virtual FootstepState::Ptr	getGoal (int leg)

virtual ros::WallDuration	getPerceptionDuration ()

virtual pcl::PointIndices::Ptr	getPointIndicesCollidingSphere (const Eigen::Affine3f &c)

virtual Eigen::Affine3f	getRobotCoords (StatePtr current_state, StatePtr previous_state) const
	Compute robot coords from current footstep and previous footstep. R_robot = midcoords(F_current, F_previous) * R_offset;. More...

virtual TransitionLimit::Ptr	getTransitionLimit ()

virtual std::string	infoString () const
	return string about graph information. More...

virtual bool	isColliding (StatePtr current_state, StatePtr previous_state)
	return True if current_state collides with obstacle. More...

virtual bool	isCollidingBox (const Eigen::Affine3f &c, pcl::PointIndices::Ptr candidates) const

virtual bool	isGoal (StatePtr state)

virtual bool	isSuccessable (StatePtr current_state, StatePtr previous_state)

virtual bool	lazyProjection () const

virtual std::vector< FootstepState::Ptr >	localMoveFootstepState (FootstepState::Ptr in)

virtual bool	localMovement () const

virtual double	maxSuccessorDistance ()

virtual double	maxSuccessorRotation ()

double	path_cost_original (StatePtr from, StatePtr to, double prev_cost)

virtual double	pathCost (StatePtr from, StatePtr to, double prev_cost)

virtual FootstepState::Ptr	projectFootstep (FootstepState::Ptr in)

virtual FootstepState::Ptr	projectFootstep (FootstepState::Ptr in, unsigned int &state)

virtual bool	projectGoal ()

virtual bool	projectStart ()

virtual void	setBasicSuccessors (std::vector< Eigen::Affine3f > left_to_right_successors)

virtual void	setCollisionBBoxOffset (const Eigen::Affine3f &offset)

virtual void	setCollisionBBoxSize (const Eigen::Vector3f &size)

virtual void	setGlobalTransitionLimit (TransitionLimit::Ptr limit)

virtual void	setGoalState (FootstepState::Ptr left, FootstepState::Ptr right)

void	setHeuristicPathLine (jsk_recognition_utils::PolyLine &path_line)

virtual void	setLeftGoalState (FootstepState::Ptr goal)

virtual void	setObstacleModel (pcl::PointCloud< pcl::PointXYZ >::Ptr model)

virtual void	setParameters (FootstepParameters &p)

virtual void	setPathCostFunction (PathCostFunction p)

virtual void	setPointCloudModel (pcl::PointCloud< pcl::PointNormal >::Ptr model)

virtual void	setProgressPublisher (ros::NodeHandle &nh, std::string topic)

virtual void	setRightGoalState (FootstepState::Ptr goal)

virtual void	setSuccessorFunction (SuccessorFunction s)

virtual void	setTransitionLimit (TransitionLimit::Ptr limit)

virtual std::vector< StatePtr >	successors (StatePtr target_state)

bool	successors_original (StatePtr target_state, std::vector< FootstepGraph::StatePtr > &ret)

virtual bool	useObstacleModel () const

virtual bool	usePointCloudModel () const

Public Member Functions inherited from jsk_footstep_planner::Graph< FootstepState >
virtual void	addNode (StatePtr state)

virtual StatePtr	getGoalState ()

virtual StatePtr	getStartState ()

	Graph ()

virtual size_t	numNodes ()

virtual void	setGoalState (StatePtr goal)

virtual void	setStartState (StatePtr start)

Protected Attributes
Eigen::Affine3f	collision_bbox_offset_

Eigen::Vector3f	collision_bbox_size_

TransitionLimit::Ptr	global_transition_limit_

ANNGrid::Ptr	grid_search_

jsk_recognition_utils::PolyLine::Ptr	heuristic_path_

const bool	lazy_projection_

FootstepState::Ptr	left_goal_state_

const bool	local_movement_

double	max_successor_distance_

double	max_successor_rotation_

pcl::PointCloud< pcl::PointXYZ >::Ptr	obstacle_model_

pcl::KdTreeFLANN< pcl::PointXYZ >::Ptr	obstacle_tree_model_

FootstepParameters	parameters_

ros::WallDuration	perception_duration_

pcl::PointCloud< pcl::PointNormal >::Ptr	pointcloud_model_

pcl::PointCloud< pcl::PointNormal >::Ptr	pointcloud_model_2d_

ros::Publisher	pub_progress_

bool	publish_progress_

const Eigen::Vector3f	resolution_

FootstepState::Ptr	right_goal_state_

std::vector< Eigen::Affine3f >	successors_from_left_to_right_

std::vector< Eigen::Affine3f >	successors_from_right_to_left_

TransitionLimit::Ptr	transition_limit_

pcl::KdTreeFLANN< pcl::PointNormal >::Ptr	tree_model_

pcl::search::Octree< pcl::PointNormal >::Ptr	tree_model_2d_

const bool	use_obstacle_model_

const bool	use_pointcloud_model_

FootstepState::Ptr	zero_state_
	zero_state is used only for global transition limit More...

Protected Attributes inherited from jsk_footstep_planner::Graph< FootstepState >
StatePtr	goal_state_

std::vector< StatePtr >	nodes_

StatePtr	start_state_

Private Attributes
PathCostFunction	path_cost_func_

SuccessorFunction	successor_func_

Friends
double	footstepHeuristicFollowPathLine (SolverNode< FootstepState, FootstepGraph >::Ptr node, FootstepGraph::Ptr graph)

Detailed Description

Definition at line 86 of file footstep_graph.h.

Member Typedef Documentation

◆ PathCostFunction

typedef boost::function< double(StatePtr, StatePtr, double) > jsk_footstep_planner::FootstepGraph::PathCostFunction

Definition at line 123 of file footstep_graph.h.

◆ Ptr

typedef boost::shared_ptr<FootstepGraph> jsk_footstep_planner::FootstepGraph::Ptr

Definition at line 121 of file footstep_graph.h.

◆ SuccessorFunction

typedef boost::function< bool(StatePtr target_state, std::vector<StatePtr> &) > jsk_footstep_planner::FootstepGraph::SuccessorFunction

Definition at line 122 of file footstep_graph.h.

Constructor & Destructor Documentation

◆ FootstepGraph()

jsk_footstep_planner::FootstepGraph::FootstepGraph	(	const Eigen::Vector3f &	resolution,
		const bool	use_pointcloud_model = `false`,
		const bool	lazy_projection = `true`,
		const bool	local_movement = `false`,
		const bool	use_obstacle_model = `false`
	)

inline

Definition at line 127 of file footstep_graph.h.

Member Function Documentation

◆ clearPerceptionDuration()

virtual void jsk_footstep_planner::FootstepGraph::clearPerceptionDuration ( )

inlinevirtual

Definition at line 275 of file footstep_graph.h.

◆ finalizeSteps()

bool jsk_footstep_planner::FootstepGraph::finalizeSteps	(	const StatePtr &	last_1_Step,
		const StatePtr &	lastStep,
		std::vector< StatePtr > &	finalizeSteps
	)

Definition at line 186 of file footstep_graph.cpp.

◆ getGlobalTransitionLimit()

virtual TransitionLimit::Ptr jsk_footstep_planner::FootstepGraph::getGlobalTransitionLimit ( )

inlinevirtual

Definition at line 271 of file footstep_graph.h.

◆ getGoal()

virtual FootstepState::Ptr jsk_footstep_planner::FootstepGraph::getGoal ( int leg )

inlinevirtual

Definition at line 207 of file footstep_graph.h.

◆ getPerceptionDuration()

virtual ros::WallDuration jsk_footstep_planner::FootstepGraph::getPerceptionDuration ( )

inlinevirtual

Definition at line 274 of file footstep_graph.h.

◆ getPointIndicesCollidingSphere()

pcl::PointIndices::Ptr jsk_footstep_planner::FootstepGraph::getPointIndicesCollidingSphere ( const Eigen::Affine3f & c )

virtual

Definition at line 139 of file footstep_graph.cpp.

◆ getRobotCoords()

Eigen::Affine3f jsk_footstep_planner::FootstepGraph::getRobotCoords	(	StatePtr	current_state,
		StatePtr	previous_state
	)		const

virtual

Compute robot coords from current footstep and previous footstep. R_robot = midcoords(F_current, F_previous) * R_offset;.

Definition at line 133 of file footstep_graph.cpp.

◆ getTransitionLimit()

virtual TransitionLimit::Ptr jsk_footstep_planner::FootstepGraph::getTransitionLimit ( )

inlinevirtual

Definition at line 269 of file footstep_graph.h.

◆ infoString()

std::string jsk_footstep_planner::FootstepGraph::infoString ( ) const

virtual

return string about graph information.

Definition at line 200 of file footstep_graph.cpp.

◆ isColliding()

bool jsk_footstep_planner::FootstepGraph::isColliding	(	StatePtr	current_state,
		StatePtr	previous_state
	)

virtual

return True if current_state collides with obstacle.

Definition at line 169 of file footstep_graph.cpp.

◆ isCollidingBox()

bool jsk_footstep_planner::FootstepGraph::isCollidingBox	(	const Eigen::Affine3f &	c,
		pcl::PointIndices::Ptr	candidates
	)		const

virtual

Definition at line 150 of file footstep_graph.cpp.

◆ isGoal()

bool jsk_footstep_planner::FootstepGraph::isGoal ( StatePtr state )

virtual

Implements jsk_footstep_planner::Graph< FootstepState >.

Definition at line 103 of file footstep_graph.cpp.

◆ isSuccessable()

bool jsk_footstep_planner::FootstepGraph::isSuccessable	(	StatePtr	current_state,
		StatePtr	previous_state
	)

virtual

Definition at line 246 of file footstep_graph.cpp.

◆ lazyProjection()

virtual bool jsk_footstep_planner::FootstepGraph::lazyProjection ( ) const

inlinevirtual

Definition at line 264 of file footstep_graph.h.

◆ localMoveFootstepState()

std::vector< FootstepState::Ptr > jsk_footstep_planner::FootstepGraph::localMoveFootstepState ( FootstepState::Ptr in )

virtual

Definition at line 265 of file footstep_graph.cpp.

◆ localMovement()

virtual bool jsk_footstep_planner::FootstepGraph::localMovement ( ) const

inlinevirtual

Definition at line 265 of file footstep_graph.h.

◆ maxSuccessorDistance()

virtual double jsk_footstep_planner::FootstepGraph::maxSuccessorDistance ( )

inlinevirtual

Definition at line 220 of file footstep_graph.h.

◆ maxSuccessorRotation()

virtual double jsk_footstep_planner::FootstepGraph::maxSuccessorRotation ( )

inlinevirtual

Definition at line 224 of file footstep_graph.h.

◆ path_cost_original()

double jsk_footstep_planner::FootstepGraph::path_cost_original	(	StatePtr	from,
		StatePtr	to,
		double	prev_cost
	)

inline

Definition at line 287 of file footstep_graph.h.

◆ pathCost()

virtual double jsk_footstep_planner::FootstepGraph::pathCost	(	StatePtr	from,
		StatePtr	to,
		double	prev_cost
	)

inlinevirtual

Reimplemented from jsk_footstep_planner::Graph< FootstepState >.

Definition at line 160 of file footstep_graph.h.

◆ projectFootstep() [1/2]

FootstepState::Ptr jsk_footstep_planner::FootstepGraph::projectFootstep ( FootstepState::Ptr in )

virtual

Definition at line 356 of file footstep_graph.cpp.

◆ projectFootstep() [2/2]

FootstepState::Ptr jsk_footstep_planner::FootstepGraph::projectFootstep	(	FootstepState::Ptr	in,
		unsigned int &	state
	)

virtual

Definition at line 362 of file footstep_graph.cpp.

◆ projectGoal()

bool jsk_footstep_planner::FootstepGraph::projectGoal ( )

virtual

Definition at line 382 of file footstep_graph.cpp.

◆ projectStart()

bool jsk_footstep_planner::FootstepGraph::projectStart ( )

virtual

Definition at line 404 of file footstep_graph.cpp.

◆ setBasicSuccessors()

void jsk_footstep_planner::FootstepGraph::setBasicSuccessors ( std::vector< Eigen::Affine3f > left_to_right_successors )

virtual

Definition at line 73 of file footstep_graph.cpp.

◆ setCollisionBBoxOffset()

virtual void jsk_footstep_planner::FootstepGraph::setCollisionBBoxOffset ( const Eigen::Affine3f & offset )

inlinevirtual

Definition at line 277 of file footstep_graph.h.

◆ setCollisionBBoxSize()

virtual void jsk_footstep_planner::FootstepGraph::setCollisionBBoxSize ( const Eigen::Vector3f & size )

inlinevirtual

Definition at line 278 of file footstep_graph.h.

◆ setGlobalTransitionLimit()

virtual void jsk_footstep_planner::FootstepGraph::setGlobalTransitionLimit ( TransitionLimit::Ptr limit )

inlinevirtual

Definition at line 270 of file footstep_graph.h.

◆ setGoalState()

virtual void jsk_footstep_planner::FootstepGraph::setGoalState	(	FootstepState::Ptr	left,
		FootstepState::Ptr	right
	)

inlinevirtual

Definition at line 181 of file footstep_graph.h.

◆ setHeuristicPathLine()

void jsk_footstep_planner::FootstepGraph::setHeuristicPathLine ( jsk_recognition_utils::PolyLine & path_line )

inline

Definition at line 291 of file footstep_graph.h.

◆ setLeftGoalState()

virtual void jsk_footstep_planner::FootstepGraph::setLeftGoalState ( FootstepState::Ptr goal )

inlinevirtual

Definition at line 188 of file footstep_graph.h.

◆ setObstacleModel()

virtual void jsk_footstep_planner::FootstepGraph::setObstacleModel ( pcl::PointCloud< pcl::PointXYZ >::Ptr model )

inlinevirtual

Definition at line 253 of file footstep_graph.h.

◆ setParameters()

virtual void jsk_footstep_planner::FootstepGraph::setParameters ( FootstepParameters & p )

inlinevirtual

Definition at line 267 of file footstep_graph.h.

◆ setPathCostFunction()

virtual void jsk_footstep_planner::FootstepGraph::setPathCostFunction ( PathCostFunction p )

inlinevirtual

Definition at line 283 of file footstep_graph.h.

◆ setPointCloudModel()

virtual void jsk_footstep_planner::FootstepGraph::setPointCloudModel ( pcl::PointCloud< pcl::PointNormal >::Ptr model )

inlinevirtual

Definition at line 235 of file footstep_graph.h.

◆ setProgressPublisher()

virtual void jsk_footstep_planner::FootstepGraph::setProgressPublisher	(	ros::NodeHandle &	nh,
		std::string	topic
	)

inlinevirtual

Definition at line 229 of file footstep_graph.h.

◆ setRightGoalState()

virtual void jsk_footstep_planner::FootstepGraph::setRightGoalState ( FootstepState::Ptr goal )

inlinevirtual

Definition at line 193 of file footstep_graph.h.

◆ setSuccessorFunction()

virtual void jsk_footstep_planner::FootstepGraph::setSuccessorFunction ( SuccessorFunction s )

inlinevirtual

Definition at line 280 of file footstep_graph.h.

◆ setTransitionLimit()

virtual void jsk_footstep_planner::FootstepGraph::setTransitionLimit ( TransitionLimit::Ptr limit )

inlinevirtual

Definition at line 268 of file footstep_graph.h.

◆ successors()

virtual std::vector<StatePtr> jsk_footstep_planner::FootstepGraph::successors ( StatePtr target_state )

inlinevirtual

Implements jsk_footstep_planner::Graph< FootstepState >.

Definition at line 152 of file footstep_graph.h.

◆ successors_original()

bool jsk_footstep_planner::FootstepGraph::successors_original	(	StatePtr	target_state,
		std::vector< FootstepGraph::StatePtr > &	ret
	)

Definition at line 306 of file footstep_graph.cpp.

◆ useObstacleModel()

virtual bool jsk_footstep_planner::FootstepGraph::useObstacleModel ( ) const

inlinevirtual

Definition at line 262 of file footstep_graph.h.

◆ usePointCloudModel()

virtual bool jsk_footstep_planner::FootstepGraph::usePointCloudModel ( ) const

inlinevirtual

Definition at line 263 of file footstep_graph.h.

Friends And Related Function Documentation

◆ footstepHeuristicFollowPathLine

double footstepHeuristicFollowPathLine	(	SolverNode< FootstepState, FootstepGraph >::Ptr	node,
		FootstepGraph::Ptr	graph
	)

friend

Member Data Documentation

◆ collision_bbox_offset_

Eigen::Affine3f jsk_footstep_planner::FootstepGraph::collision_bbox_offset_

protected

Definition at line 313 of file footstep_graph.h.

◆ collision_bbox_size_

Eigen::Vector3f jsk_footstep_planner::FootstepGraph::collision_bbox_size_

protected

Definition at line 314 of file footstep_graph.h.

◆ global_transition_limit_

TransitionLimit::Ptr jsk_footstep_planner::FootstepGraph::global_transition_limit_

protected

Definition at line 327 of file footstep_graph.h.

◆ grid_search_

ANNGrid::Ptr jsk_footstep_planner::FootstepGraph::grid_search_

protected

Definition at line 303 of file footstep_graph.h.

◆ heuristic_path_

jsk_recognition_utils::PolyLine::Ptr jsk_footstep_planner::FootstepGraph::heuristic_path_

protected

Definition at line 333 of file footstep_graph.h.

◆ lazy_projection_

const bool jsk_footstep_planner::FootstepGraph::lazy_projection_

protected

Definition at line 321 of file footstep_graph.h.

◆ left_goal_state_

FootstepState::Ptr jsk_footstep_planner::FootstepGraph::left_goal_state_

protected

Definition at line 306 of file footstep_graph.h.

◆ local_movement_

const bool jsk_footstep_planner::FootstepGraph::local_movement_

protected

Definition at line 322 of file footstep_graph.h.

◆ max_successor_distance_

double jsk_footstep_planner::FootstepGraph::max_successor_distance_

protected

Definition at line 315 of file footstep_graph.h.

◆ max_successor_rotation_

double jsk_footstep_planner::FootstepGraph::max_successor_rotation_

protected

Definition at line 316 of file footstep_graph.h.

◆ obstacle_model_

pcl::PointCloud<pcl::PointXYZ>::Ptr jsk_footstep_planner::FootstepGraph::obstacle_model_

protected

Definition at line 297 of file footstep_graph.h.

◆ obstacle_tree_model_

pcl::KdTreeFLANN<pcl::PointXYZ>::Ptr jsk_footstep_planner::FootstepGraph::obstacle_tree_model_

protected

Definition at line 300 of file footstep_graph.h.

◆ parameters_

FootstepParameters jsk_footstep_planner::FootstepGraph::parameters_

protected

Definition at line 328 of file footstep_graph.h.

◆ path_cost_func_

PathCostFunction jsk_footstep_planner::FootstepGraph::path_cost_func_

private

Definition at line 336 of file footstep_graph.h.

◆ perception_duration_

ros::WallDuration jsk_footstep_planner::FootstepGraph::perception_duration_

protected

Definition at line 330 of file footstep_graph.h.

◆ pointcloud_model_

pcl::PointCloud<pcl::PointNormal>::Ptr jsk_footstep_planner::FootstepGraph::pointcloud_model_

protected

Definition at line 296 of file footstep_graph.h.

◆ pointcloud_model_2d_

pcl::PointCloud<pcl::PointNormal>::Ptr jsk_footstep_planner::FootstepGraph::pointcloud_model_2d_

protected

Definition at line 298 of file footstep_graph.h.

◆ pub_progress_

ros::Publisher jsk_footstep_planner::FootstepGraph::pub_progress_

protected

Definition at line 318 of file footstep_graph.h.

◆ publish_progress_

bool jsk_footstep_planner::FootstepGraph::publish_progress_

protected

Definition at line 317 of file footstep_graph.h.

◆ resolution_

const Eigen::Vector3f jsk_footstep_planner::FootstepGraph::resolution_

protected

Definition at line 324 of file footstep_graph.h.

◆ right_goal_state_

FootstepState::Ptr jsk_footstep_planner::FootstepGraph::right_goal_state_

protected

Definition at line 307 of file footstep_graph.h.

◆ successor_func_

SuccessorFunction jsk_footstep_planner::FootstepGraph::successor_func_

private

Definition at line 335 of file footstep_graph.h.

◆ successors_from_left_to_right_

std::vector<Eigen::Affine3f> jsk_footstep_planner::FootstepGraph::successors_from_left_to_right_

protected

Definition at line 304 of file footstep_graph.h.

◆ successors_from_right_to_left_

std::vector<Eigen::Affine3f> jsk_footstep_planner::FootstepGraph::successors_from_right_to_left_

protected

Definition at line 305 of file footstep_graph.h.

◆ transition_limit_

TransitionLimit::Ptr jsk_footstep_planner::FootstepGraph::transition_limit_

protected

Definition at line 326 of file footstep_graph.h.

◆ tree_model_

pcl::KdTreeFLANN<pcl::PointNormal>::Ptr jsk_footstep_planner::FootstepGraph::tree_model_

protected

Definition at line 299 of file footstep_graph.h.

◆ tree_model_2d_

pcl::search::Octree<pcl::PointNormal>::Ptr jsk_footstep_planner::FootstepGraph::tree_model_2d_

protected

Definition at line 302 of file footstep_graph.h.

◆ use_obstacle_model_

const bool jsk_footstep_planner::FootstepGraph::use_obstacle_model_

protected

Definition at line 323 of file footstep_graph.h.

◆ use_pointcloud_model_

const bool jsk_footstep_planner::FootstepGraph::use_pointcloud_model_

protected

Definition at line 320 of file footstep_graph.h.

◆ zero_state_

FootstepState::Ptr jsk_footstep_planner::FootstepGraph::zero_state_

protected

zero_state is used only for global transition limit

Definition at line 312 of file footstep_graph.h.

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

Public Types

Public Member Functions

Protected Attributes

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ PathCostFunction

◆ Ptr

◆ SuccessorFunction

Constructor & Destructor Documentation

◆ FootstepGraph()

Member Function Documentation

◆ clearPerceptionDuration()

◆ finalizeSteps()

◆ getGlobalTransitionLimit()

◆ getGoal()

◆ getPerceptionDuration()

◆ getPointIndicesCollidingSphere()

◆ getRobotCoords()

◆ getTransitionLimit()

◆ infoString()

◆ isColliding()

◆ isCollidingBox()

◆ isGoal()

◆ isSuccessable()

◆ lazyProjection()

◆ localMoveFootstepState()

◆ localMovement()

◆ maxSuccessorDistance()

◆ maxSuccessorRotation()

◆ path_cost_original()

◆ pathCost()

◆ projectFootstep() [1/2]

◆ projectFootstep() [2/2]

◆ projectGoal()

◆ projectStart()

◆ setBasicSuccessors()

◆ setCollisionBBoxOffset()

◆ setCollisionBBoxSize()

◆ setGlobalTransitionLimit()

◆ setGoalState()

◆ setHeuristicPathLine()

◆ setLeftGoalState()

◆ setObstacleModel()

◆ setParameters()

◆ setPathCostFunction()

◆ setPointCloudModel()

◆ setProgressPublisher()

◆ setRightGoalState()

◆ setSuccessorFunction()

◆ setTransitionLimit()

◆ successors()

◆ successors_original()

◆ useObstacleModel()

◆ usePointCloudModel()

Friends And Related Function Documentation

◆ footstepHeuristicFollowPathLine

Member Data Documentation

◆ collision_bbox_offset_

◆ collision_bbox_size_

◆ global_transition_limit_

◆ grid_search_

◆ heuristic_path_

◆ lazy_projection_

◆ left_goal_state_

◆ local_movement_

◆ max_successor_distance_

◆ max_successor_rotation_

◆ obstacle_model_

◆ obstacle_tree_model_

◆ parameters_

◆ path_cost_func_

◆ perception_duration_

◆ pointcloud_model_

◆ pointcloud_model_2d_

◆ pub_progress_

◆ publish_progress_

◆ resolution_

◆ right_goal_state_