navfn::NavfnWithCostmap Class Reference

Inheritance diagram for navfn::NavfnWithCostmap:

Public Member Functions
bool	makePlanService (MakeNavPlan::Request &req, MakeNavPlan::Response &resp)
	NavfnWithCostmap (string name, Costmap2DROS *cmap)
Public Member Functions inherited from navfn::NavfnROS
bool	computePotential (const geometry_msgs::Point &world_point)
	Computes the full navigation function for the map given a point in the world to start from. More...
bool	getPlanFromPotential (const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first) More...
double	getPointPotential (const geometry_msgs::Point &world_point)
	Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first) More...
void	initialize (std::string name, costmap_2d::Costmap2D *costmap, std::string global_frame)
	Initialization function for the NavFnROS object. More...
void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the NavFnROS object. More...
bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan)
	Given a goal pose in the world, compute a plan. 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...
bool	makePlanService (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp)
	NavfnROS ()
	Default constructor for the NavFnROS object. More...
	NavfnROS (std::string name, costmap_2d::Costmap2D *costmap, std::string global_frame)
	Constructor for the NavFnROS object. More...
	NavfnROS (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Constructor for the NavFnROS object. More...
void	publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, double r, double g, double b, double a)
	Publish a path for visualization purposes. More...
bool	validPointPotential (const geometry_msgs::Point &world_point)
	Check for a valid potential value at a given point in the world (Note: You should call computePotential first) More...
bool	validPointPotential (const geometry_msgs::Point &world_point, double tolerance)
	Check for a valid potential value at a given point in the world (Note: You should call computePotential first) More...
	~NavfnROS ()
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	poseCallback (const rm::PoseStamped::ConstPtr &goal)

Private Attributes
Costmap2DROS *	cmap_
ros::ServiceServer	make_plan_service_
ros::Subscriber	pose_sub_

Additional Inherited Members
Protected Member Functions inherited from nav_core::BaseGlobalPlanner
	BaseGlobalPlanner ()
Protected Attributes inherited from navfn::NavfnROS
bool	allow_unknown_
costmap_2d::Costmap2D *	costmap_
	Store a copy of the current costmap in costmap. Called by makePlan. More...
bool	initialized_
ros::Publisher	plan_pub_
boost::shared_ptr< NavFn >	planner_
ros::Publisher	potarr_pub_
bool	visualize_potential_

Detailed Description

Definition at line 54 of file navfn_node.cpp.

Constructor & Destructor Documentation

NavfnWithCostmap()

navfn::NavfnWithCostmap::NavfnWithCostmap	(	string	name,
		Costmap2DROS *	cmap
	)

Definition at line 91 of file navfn_node.cpp.

Member Function Documentation

makePlanService()

bool navfn::NavfnWithCostmap::makePlanService	(	MakeNavPlan::Request &	req,
		MakeNavPlan::Response &	resp
	)

Definition at line 68 of file navfn_node.cpp.

poseCallback()

void navfn::NavfnWithCostmap::poseCallback ( const rm::PoseStamped::ConstPtr &  goal )

private

Definition at line 83 of file navfn_node.cpp.

Member Data Documentation

cmap_

Costmap2DROS* navfn::NavfnWithCostmap::cmap_

private

Definition at line 62 of file navfn_node.cpp.

make_plan_service_

ros::ServiceServer navfn::NavfnWithCostmap::make_plan_service_

private

Definition at line 63 of file navfn_node.cpp.

pose_sub_

ros::Subscriber navfn::NavfnWithCostmap::pose_sub_

private

Definition at line 64 of file navfn_node.cpp.

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

• navfn_node.cpp