traceback.h
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34 
35 #ifndef DLUX_GLOBAL_PLANNER_TRACEBACK_H
36 #define DLUX_GLOBAL_PLANNER_TRACEBACK_H
37 
38 #include <ros/ros.h>
41 #include <nav_grid/nav_grid_info.h>
42 #include <nav_2d_msgs/Path2D.h>
43 
44 namespace dlux_global_planner
45 {
52 class Traceback
53 {
54 public:
55  Traceback() : cost_interpreter_(nullptr) {}
56  virtual ~Traceback() = default;
57 
66  virtual void initialize(ros::NodeHandle& private_nh, CostInterpreter::Ptr cost_interpreter)
67  { cost_interpreter_ = cost_interpreter; }
68 
78  virtual nav_2d_msgs::Path2D getPath(const PotentialGrid& potential_grid,
79  const geometry_msgs::Pose2D& start, const geometry_msgs::Pose2D& goal,
80  double& path_cost) = 0;
81 protected:
88  nav_2d_msgs::Path2D mapPathToWorldPath(const nav_2d_msgs::Path2D& original, const nav_grid::NavGridInfo& info)
89  {
90  nav_2d_msgs::Path2D world_path;
91  world_path.header.frame_id = info.frame_id;
92  world_path.poses.resize(original.poses.size());
93  for (unsigned int i = 0; i < original.poses.size(); i++)
94  {
95  world_path.poses[i].x = info.origin_x + original.poses[i].x * info.resolution;
96  world_path.poses[i].y = info.origin_y + original.poses[i].y * info.resolution;
97  }
98  return world_path;
99  }
101 };
102 } // namespace dlux_global_planner
103 
104 #endif // DLUX_GLOBAL_PLANNER_TRACEBACK_H
nav_2d_msgs::Path2D mapPathToWorldPath(const nav_2d_msgs::Path2D &original, const nav_grid::NavGridInfo &info)
Helper function to convert a path in Grid coordinates to World coordinates.
Definition: traceback.h:88
virtual ~Traceback()=default
Plugin interface for using the potential to trace a path from the start position back to the goal pos...
Definition: traceback.h:52
virtual void initialize(ros::NodeHandle &private_nh, CostInterpreter::Ptr cost_interpreter)
Initialize function.
Definition: traceback.h:66
CostInterpreter::Ptr cost_interpreter_
Definition: traceback.h:100
std::shared_ptr< CostInterpreter > Ptr
virtual nav_2d_msgs::Path2D getPath(const PotentialGrid &potential_grid, const geometry_msgs::Pose2D &start, const geometry_msgs::Pose2D &goal, double &path_cost)=0
Create the path from start to goal.


dlux_global_planner
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autogenerated on Wed Jun 26 2019 20:06:30