base_local_planner::LocalPlannerUtil Class Reference

Helper class implementing infrastructure code many local planner implementations may need. More...

#include <local_planner_util.h>

Public Member Functions
costmap_2d::Costmap2D *	getCostmap ()
LocalPlannerLimits	getCurrentLimits ()
std::string	getGlobalFrame ()
bool	getGoal (tf::Stamped< tf::Pose > &goal_pose)
bool	getLocalPlan (tf::Stamped< tf::Pose > &global_pose, std::vector< geometry_msgs::PoseStamped > &transformed_plan)
void	initialize (tf::TransformListener *tf, costmap_2d::Costmap2D *costmap, std::string global_frame)
	LocalPlannerUtil ()
void	reconfigureCB (LocalPlannerLimits &config, bool restore_defaults)
	Callback to update the local planner's parameters. More...
bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
	~LocalPlannerUtil ()

Private Attributes
costmap_2d::Costmap2D *	costmap_
LocalPlannerLimits	default_limits_
std::string	global_frame_
std::vector< geometry_msgs::PoseStamped >	global_plan_
bool	initialized_
LocalPlannerLimits	limits_
boost::mutex	limits_configuration_mutex_
std::string	name_
bool	setup_
tf::TransformListener *	tf_

Detailed Description

Helper class implementing infrastructure code many local planner implementations may need.

Definition at line 58 of file local_planner_util.h.

Constructor & Destructor Documentation

base_local_planner::LocalPlannerUtil::LocalPlannerUtil ( )

inline

Definition at line 85 of file local_planner_util.h.

base_local_planner::LocalPlannerUtil::~LocalPlannerUtil ( )

inline

Definition at line 87 of file local_planner_util.h.

Member Function Documentation

costmap_2d::Costmap2D * base_local_planner::LocalPlannerUtil::getCostmap

(

)

Definition at line 73 of file local_planner_util.cpp.

LocalPlannerLimits base_local_planner::LocalPlannerUtil::getCurrentLimits

(

)

Definition at line 77 of file local_planner_util.cpp.

std::string base_local_planner::LocalPlannerUtil::getGlobalFrame ( )

inline

Definition at line 104 of file local_planner_util.h.

bool base_local_planner::LocalPlannerUtil::getGoal

(

tf::Stamped< tf::Pose > &

goal_pose

)

Definition at line 83 of file local_planner_util.cpp.

bool base_local_planner::LocalPlannerUtil::getLocalPlan	(	tf::Stamped< tf::Pose > &	global_pose,
		std::vector< geometry_msgs::PoseStamped > &	transformed_plan
	)

Definition at line 105 of file local_planner_util.cpp.

void base_local_planner::LocalPlannerUtil::initialize	(	tf::TransformListener *	tf,
		costmap_2d::Costmap2D *	costmap,
		std::string	global_frame
	)

Definition at line 44 of file local_planner_util.cpp.

void base_local_planner::LocalPlannerUtil::reconfigureCB	(	LocalPlannerLimits &	config,
		bool	restore_defaults
	)

Callback to update the local planner's parameters.

Definition at line 59 of file local_planner_util.cpp.

bool base_local_planner::LocalPlannerUtil::setPlan

(

const std::vector< geometry_msgs::PoseStamped > &

orig_global_plan

)

Definition at line 91 of file local_planner_util.cpp.

Member Data Documentation

costmap_2d::Costmap2D* base_local_planner::LocalPlannerUtil::costmap_

private

Definition at line 65 of file local_planner_util.h.

LocalPlannerLimits base_local_planner::LocalPlannerUtil::default_limits_

private

Definition at line 74 of file local_planner_util.h.

std::string base_local_planner::LocalPlannerUtil::global_frame_

private

Definition at line 63 of file local_planner_util.h.

std::vector<geometry_msgs::PoseStamped> base_local_planner::LocalPlannerUtil::global_plan_

private

Definition at line 69 of file local_planner_util.h.

bool base_local_planner::LocalPlannerUtil::initialized_

private

Definition at line 76 of file local_planner_util.h.

LocalPlannerLimits base_local_planner::LocalPlannerUtil::limits_

private

Definition at line 75 of file local_planner_util.h.

boost::mutex base_local_planner::LocalPlannerUtil::limits_configuration_mutex_

private

Definition at line 72 of file local_planner_util.h.

std::string base_local_planner::LocalPlannerUtil::name_

private

Definition at line 62 of file local_planner_util.h.

bool base_local_planner::LocalPlannerUtil::setup_

private

Definition at line 73 of file local_planner_util.h.

tf::TransformListener* base_local_planner::LocalPlannerUtil::tf_

private

Definition at line 66 of file local_planner_util.h.

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

• local_planner_util.h
• local_planner_util.cpp