base_local_planner Namespace Reference

Classes
class	CostmapModel
	A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using the costmap. More...
class	FootprintHelper
class	FootprintHelperTest
class	LatchedStopRotateController
class	LineIterator
class	LocalPlannerLimits
class	LocalPlannerUtil
	Helper class implementing infrastructure code many local planner implementations may need. More...
class	MapCell
	Stores path distance and goal distance information used for scoring trajectories. More...
class	MapGrid
	A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller. More...
class	MapGridCostFunction
struct	MapGridCostPoint
class	MapGridVisualizer
class	ObstacleCostFunction
	Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory. More...
class	OdometryHelperRos
class	OscillationCostFunction
class	PlanarLaserScan
	Stores a scan from a planar laser that can be used to clear freespace. More...
class	PointGrid
	A class that implements the WorldModel interface to provide free-space collision checks for the trajectory controller. This class stores points binned into a grid and performs point-in-polygon checks when necessary to determine the legality of a footprint at a given position/orientation. More...
class	PreferForwardCostFunction
class	SimpleScoredSamplingPlanner
	Generates a local plan using the given generator and cost functions. Assumes less cost are best, and negative costs indicate infinite costs. More...
class	SimpleTrajectoryGenerator
class	Trajectory
	Holds a trajectory generated by considering an x, y, and theta velocity. More...
class	TrajectoryCostFunction
	Provides an interface for critics of trajectories During each sampling run, a batch of many trajectories will be scored using such a cost function. The prepare method is called before each batch run, and then for each trajectory of the sampling set, score_trajectory may be called. More...
class	TrajectoryGeneratorTest
class	TrajectoryPlanner
	Computes control velocities for a robot given a costmap, a plan, and the robot's position in the world. More...
class	TrajectoryPlannerROS
	A ROS wrapper for the trajectory controller that queries the param server to construct a controller. More...
class	TrajectoryPlannerTest
class	TrajectorySampleGenerator
	Provides an interface for navigation trajectory generators. More...
class	TrajectorySearch
	Interface for modules finding a trajectory to use for navigation commands next. More...
class	TwirlingCostFunction
class	VelocityIterator
class	VoxelGridModel
	A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using a 3D voxel grid. More...
class	WavefrontMapAccessor
class	WorldModel
	An interface the trajectory controller uses to interact with the world regardless of the underlying world model. More...

Enumerations
enum	CostAggregationType { Last, Sum, Product }

Functions
double	getGoalOrientationAngleDifference (const tf::Stamped< tf::Pose > &global_pose, double goal_th)
	return angle difference to goal to check if the goal orientation has been achieved More...
bool	getGoalPose (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const std::string &global_frame, tf::Stamped< tf::Pose > &goal_pose)
	Returns last pose in plan. More...
double	getGoalPositionDistance (const tf::Stamped< tf::Pose > &global_pose, double goal_x, double goal_y)
	return squared distance to check if the goal position has been achieved More...
bool	isGoalReached (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2D &costmap, const std::string &global_frame, tf::Stamped< tf::Pose > &global_pose, const nav_msgs::Odometry &base_odom, double rot_stopped_vel, double trans_stopped_vel, double xy_goal_tolerance, double yaw_goal_tolerance)
	Check if the goal pose has been achieved. More...
bool	isGoalReached (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2D &costmap __attribute__((unused)), const std::string &global_frame, tf::Stamped< tf::Pose > &global_pose, const nav_msgs::Odometry &base_odom, double rot_stopped_vel, double trans_stopped_vel, double xy_goal_tolerance, double yaw_goal_tolerance)
void	prunePlan (const tf::Stamped< tf::Pose > &global_pose, std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan)
	Trim off parts of the global plan that are far enough behind the robot. More...
void	publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, const ros::Publisher &pub)
	Publish a plan for visualization purposes. More...
TrajectoryPlannerTest *	setup_testclass_singleton ()
bool	stopped (const nav_msgs::Odometry &base_odom, const double &rot_stopped_velocity, const double &trans_stopped_velocity)
	Check whether the robot is stopped or not. More...
	TEST (MapGridTest, initNull)
	TEST (MapGridTest, operatorBrackets)
	TEST (MapGridTest, copyConstructor)
	TEST (MapGridTest, getIndex)
	TEST (MapGridTest, reset)
	TEST (VelocityIteratorTest, testsingle)
	TEST (VelocityIteratorTest, testsingle_pos)
	TEST (VelocityIteratorTest, testsingle_neg)
	TEST (VelocityIteratorTest, test1)
	TEST (MapGridTest, properGridConstruction)
	TEST (MapGridTest, sizeCheck)
	TEST (VelocityIteratorTest, test1_pos)
	TEST (MapGridTest, adjustPlanEmpty)
	TEST (VelocityIteratorTest, test1_neg)
	TEST (MapGridTest, adjustPlan)
	TEST (VelocityIteratorTest, test3)
	TEST (VelocityIteratorTest, test4)
	TEST (FootprintHelperTest, correctFootprint)
	TEST (FootprintHelperTest, correctLineCells)
	TEST (MapGridTest, adjustPlan2)
	TEST (VelocityIteratorTest, test_shifted)
	TEST (VelocityIteratorTest, test_cranky)
	TEST (MapGridTest, distancePropagation)
	TEST (TrajectoryPlannerTest, footprintObstacles)
	TEST (TrajectoryPlannerTest, checkGoalDistance)
	TEST (TrajectoryPlannerTest, checkPathDistance)
bool	transformGlobalPlan (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const tf::Stamped< tf::Pose > &global_robot_pose, const costmap_2d::Costmap2D &costmap, const std::string &global_frame, std::vector< geometry_msgs::PoseStamped > &transformed_plan)
	Transforms the global plan of the robot from the planner frame to the frame of the costmap, selects only the (first) part of the plan that is within the costmap area. More...

Variables
TrajectoryPlannerTest *	tct = NULL

Enumeration Type Documentation

enum base_local_planner::CostAggregationType

when scoring a trajectory according to the values in mapgrid, we can take return the value of the last point (if no of the earlier points were in return collision), the sum for all points, or the product of all (non-zero) points

Enumerator
Last
Sum
Product

Definition at line 53 of file map_grid_cost_function.h.

Function Documentation

double base_local_planner::getGoalOrientationAngleDifference	(	const tf::Stamped< tf::Pose > &	global_pose,
		double	goal_th
	)

return angle difference to goal to check if the goal orientation has been achieved

Parameters

global_pose	The pose of the robot in the global frame
goal_x	The desired x value for the goal
goal_y	The desired y value for the goal

Returns

angular difference

Definition at line 45 of file goal_functions.cpp.

bool base_local_planner::getGoalPose	(	const tf::TransformListener &	tf,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan,
		const std::string &	global_frame,
		tf::Stamped< tf::Pose > &	goal_pose
	)

Returns last pose in plan.

Parameters

tf	A reference to a transform listener
global_plan	The plan being followed
global_frame	The global frame of the local planner
goal_pose	the pose to copy into

Returns

True if achieved, false otherwise

Definition at line 176 of file goal_functions.cpp.

double base_local_planner::getGoalPositionDistance	(	const tf::Stamped< tf::Pose > &	global_pose,
		double	goal_x,
		double	goal_y
	)

return squared distance to check if the goal position has been achieved

Parameters

global_pose	The pose of the robot in the global frame
goal_x	The desired x value for the goal
goal_y	The desired y value for the goal

Returns

distance to goal

Definition at line 41 of file goal_functions.cpp.

bool base_local_planner::isGoalReached	(	const tf::TransformListener &	tf,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan,
		const costmap_2d::Costmap2D &	costmap,
		const std::string &	global_frame,
		tf::Stamped< tf::Pose > &	global_pose,
		const nav_msgs::Odometry &	base_odom,
		double	rot_stopped_vel,
		double	trans_stopped_vel,
		double	xy_goal_tolerance,
		double	yaw_goal_tolerance
	)

Check if the goal pose has been achieved.

Parameters

tf	A reference to a transform listener
global_plan	The plan being followed
costmap_ros	A reference to the costmap object being used by the planner
global_frame	The global frame of the local planner
base_odom	The current odometry information for the robot
rot_stopped_vel	The rotational velocity below which the robot is considered stopped
trans_stopped_vel	The translational velocity below which the robot is considered stopped
xy_goal_tolerance	The translational tolerance on reaching the goal
yaw_goal_tolerance	The rotational tolerance on reaching the goal

Returns

True if achieved, false otherwise

bool base_local_planner::isGoalReached	(	const tf::TransformListener &	tf,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan,
		const costmap_2d::Costmap2D &costmap	__attribute__(unused),
		const std::string &	global_frame,
		tf::Stamped< tf::Pose > &	global_pose,
		const nav_msgs::Odometry &	base_odom,
		double	rot_stopped_vel,
		double	trans_stopped_vel,
		double	xy_goal_tolerance,
		double	yaw_goal_tolerance
	)

Definition at line 219 of file goal_functions.cpp.

void base_local_planner::prunePlan	(	const tf::Stamped< tf::Pose > &	global_pose,
		std::vector< geometry_msgs::PoseStamped > &	plan,
		std::vector< geometry_msgs::PoseStamped > &	global_plan
	)

Trim off parts of the global plan that are far enough behind the robot.

Parameters

global_pose	The pose of the robot in the global frame
plan	The plan to be pruned
global_plan	The plan to be pruned in the frame of the planner

Definition at line 69 of file goal_functions.cpp.

void base_local_planner::publishPlan	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		const ros::Publisher &	pub
	)

Publish a plan for visualization purposes.

Parameters

path	The plan to publish
pub	The published to use
r,g,b,a	The color and alpha value to use when publishing

Definition at line 50 of file goal_functions.cpp.

TrajectoryPlannerTest* base_local_planner::setup_testclass_singleton

(

)

Definition at line 171 of file utest.cpp.

bool base_local_planner::stopped	(	const nav_msgs::Odometry &	base_odom,
		const double &	rot_stopped_velocity,
		const double &	trans_stopped_velocity
	)

Check whether the robot is stopped or not.

Parameters

base_odom	The current odometry information for the robot
rot_stopped_velocity	The rotational velocity below which the robot is considered stopped
trans_stopped_velocity	The translational velocity below which the robot is considered stopped

Returns

True if the robot is stopped, false otherwise

Definition at line 249 of file goal_functions.cpp.

base_local_planner::TEST	(	MapGridTest	,
		initNull
	)

Definition at line 18 of file map_grid_test.cpp.

base_local_planner::TEST	(	MapGridTest	,
		operatorBrackets
	)

Definition at line 24 of file map_grid_test.cpp.

base_local_planner::TEST	(	MapGridTest	,
		copyConstructor
	)

Definition at line 30 of file map_grid_test.cpp.

base_local_planner::TEST	(	MapGridTest	,
		getIndex
	)

Definition at line 38 of file map_grid_test.cpp.

base_local_planner::TEST	(	MapGridTest	,
		reset
	)

Definition at line 43 of file map_grid_test.cpp.

base_local_planner::TEST	(	VelocityIteratorTest	,
		testsingle
	)

Definition at line 45 of file velocity_iterator_test.cpp.

base_local_planner::TEST	(	VelocityIteratorTest	,
		testsingle_pos
	)

Definition at line 56 of file velocity_iterator_test.cpp.

base_local_planner::TEST	(	VelocityIteratorTest	,
		testsingle_neg
	)

Definition at line 67 of file velocity_iterator_test.cpp.

base_local_planner::TEST	(	VelocityIteratorTest	,
		test1
	)

Definition at line 78 of file velocity_iterator_test.cpp.

base_local_planner::TEST	(	MapGridTest	,
		properGridConstruction
	)

Definition at line 78 of file map_grid_test.cpp.

base_local_planner::TEST	(	MapGridTest	,
		sizeCheck
	)

Definition at line 90 of file map_grid_test.cpp.

base_local_planner::TEST	(	VelocityIteratorTest	,
		test1_pos
	)

Definition at line 92 of file velocity_iterator_test.cpp.

base_local_planner::TEST	(	MapGridTest	,
		adjustPlanEmpty
	)

Definition at line 104 of file map_grid_test.cpp.

base_local_planner::TEST	(	VelocityIteratorTest	,
		test1_neg
	)

Definition at line 106 of file velocity_iterator_test.cpp.

base_local_planner::TEST	(	MapGridTest	,
		adjustPlan
	)

Definition at line 113 of file map_grid_test.cpp.

base_local_planner::TEST	(	VelocityIteratorTest	,
		test3
	)

Definition at line 120 of file velocity_iterator_test.cpp.

base_local_planner::TEST	(	VelocityIteratorTest	,
		test4
	)

Definition at line 134 of file velocity_iterator_test.cpp.

base_local_planner::TEST	(	FootprintHelperTest	,
		correctFootprint
	)

Definition at line 135 of file footprint_helper_test.cpp.

base_local_planner::TEST	(	FootprintHelperTest	,
		correctLineCells
	)

Definition at line 140 of file footprint_helper_test.cpp.

base_local_planner::TEST	(	MapGridTest	,
		adjustPlan2
	)

Definition at line 142 of file map_grid_test.cpp.

base_local_planner::TEST	(	VelocityIteratorTest	,
		test_shifted
	)

Definition at line 148 of file velocity_iterator_test.cpp.

base_local_planner::TEST	(	VelocityIteratorTest	,
		test_cranky
	)

Definition at line 163 of file velocity_iterator_test.cpp.

base_local_planner::TEST	(	MapGridTest	,
		distancePropagation
	)

Definition at line 181 of file map_grid_test.cpp.

base_local_planner::TEST	(	TrajectoryPlannerTest	,
		footprintObstacles
	)

Definition at line 198 of file utest.cpp.

base_local_planner::TEST	(	TrajectoryPlannerTest	,
		checkGoalDistance
	)

Definition at line 204 of file utest.cpp.

base_local_planner::TEST	(	TrajectoryPlannerTest	,
		checkPathDistance
	)

Definition at line 210 of file utest.cpp.

bool base_local_planner::transformGlobalPlan	(	const tf::TransformListener &	tf,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan,
		const tf::Stamped< tf::Pose > &	global_robot_pose,
		const costmap_2d::Costmap2D &	costmap,
		const std::string &	global_frame,
		std::vector< geometry_msgs::PoseStamped > &	transformed_plan
	)

Transforms the global plan of the robot from the planner frame to the frame of the costmap, selects only the (first) part of the plan that is within the costmap area.

Parameters

tf	A reference to a transform listener
global_plan	The plan to be transformed
robot_pose	The pose of the robot in the global frame (same as costmap)
costmap	A reference to the costmap being used so the window size for transforming can be computed
global_frame	The frame to transform the plan to
transformed_plan	Populated with the transformed plan

Definition at line 88 of file goal_functions.cpp.

Variable Documentation

TrajectoryPlannerTest* base_local_planner::tct = NULL

Definition at line 169 of file utest.cpp.