Traceback function that creates a smooth gradient from the start to the goal. More...

#include <gradient_path.h>

Inheritance diagram for dlux_plugins::GradientPath:

Public Member Functions
nav_2d_msgs::Path2D	getPath (const dlux_global_planner::PotentialGrid &potential_grid, const geometry_msgs::Pose2D &start, const geometry_msgs::Pose2D &goal, double &path_cost) override

void	initialize (ros::NodeHandle &private_nh, dlux_global_planner::CostInterpreter::Ptr cost_interpreter) override

Public Member Functions inherited from dlux_global_planner::Traceback
	Traceback ()

virtual	~Traceback ()=default

Protected Member Functions
void	calculateGradient (const dlux_global_planner::PotentialGrid &potential_grid, const nav_grid::Index &index)

nav_grid::Index	gridStep (const dlux_global_planner::PotentialGrid &potential_grid, const nav_grid::Index &index)

bool	shouldGridStep (const dlux_global_planner::PotentialGrid &potential_grid, const nav_grid::Index &index)

Protected Member Functions inherited from dlux_global_planner::Traceback
nav_2d_msgs::Path2D	mapPathToWorldPath (const nav_2d_msgs::Path2D &original, const nav_grid::NavGridInfo &info)

Protected Attributes
nav_grid::VectorNavGrid< double >	gradx_

nav_grid::VectorNavGrid< double >	grady_

bool	grid_step_near_high_

double	iteration_factor_

double	lethal_cost_

double	step_size_

Protected Attributes inherited from dlux_global_planner::Traceback
CostInterpreter::Ptr	cost_interpreter_

Detailed Description

Traceback function that creates a smooth gradient from the start to the goal.

Definition at line 47 of file gradient_path.h.

Member Function Documentation

void dlux_plugins::GradientPath::calculateGradient	(	const dlux_global_planner::PotentialGrid &	potential_grid,
		const nav_grid::Index &	index
	)

inlineprotected

Definition at line 361 of file gradient_path.cpp.

nav_2d_msgs::Path2D dlux_plugins::GradientPath::getPath	(	const dlux_global_planner::PotentialGrid &	potential_grid,
		const geometry_msgs::Pose2D &	start,
		const geometry_msgs::Pose2D &	goal,
		double &	path_cost
	)

overridevirtual

Implements dlux_global_planner::Traceback.

Definition at line 63 of file gradient_path.cpp.

nav_grid::Index dlux_plugins::GradientPath::gridStep	(	const dlux_global_planner::PotentialGrid &	potential_grid,
		const nav_grid::Index &	index
	)

protected

Definition at line 255 of file gradient_path.cpp.

void dlux_plugins::GradientPath::initialize	(	ros::NodeHandle &	private_nh,
		dlux_global_planner::CostInterpreter::Ptr	cost_interpreter
	)

overridevirtual

Reimplemented from dlux_global_planner::Traceback.

Definition at line 48 of file gradient_path.cpp.

bool dlux_plugins::GradientPath::shouldGridStep	(	const dlux_global_planner::PotentialGrid &	potential_grid,
		const nav_grid::Index &	index
	)

protected

Definition at line 235 of file gradient_path.cpp.

Member Data Documentation

nav_grid::VectorNavGrid<double> dlux_plugins::GradientPath::gradx_

protected

Definition at line 64 of file gradient_path.h.

nav_grid::VectorNavGrid<double> dlux_plugins::GradientPath::grady_

protected

Definition at line 64 of file gradient_path.h.

bool dlux_plugins::GradientPath::grid_step_near_high_

protected

Definition at line 63 of file gradient_path.h.

double dlux_plugins::GradientPath::iteration_factor_

protected

Definition at line 62 of file gradient_path.h.

double dlux_plugins::GradientPath::lethal_cost_

protected

Definition at line 61 of file gradient_path.h.

double dlux_plugins::GradientPath::step_size_

protected

Definition at line 60 of file gradient_path.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

Member Data Documentation