The AbstractPlannerExecution class loads and binds the global planner plugin. It contains a thread running the plugin in a cycle to plan and re-plan. An internal state is saved and will be pulled by the server, which controls the global planner execution. Due to a state change it wakes up all threads connected to the condition variable. More...

#include <abstract_planner_execution.h>

Inheritance diagram for mbf_abstract_nav::AbstractPlannerExecution:

[legend]

Public Types
enum	PlanningState { INITIALIZED, STARTED, PLANNING, FOUND_PLAN, MAX_RETRIES, PAT_EXCEEDED, NO_PLAN_FOUND, CANCELED, STOPPED, INTERNAL_ERROR }
	Internal states. More...

typedef boost::shared_ptr< AbstractPlannerExecution >	Ptr
	shared pointer type to the planner execution. More...

Public Member Functions
	AbstractPlannerExecution (const std::string name, const mbf_abstract_core::AbstractPlanner::Ptr planner_ptr, const MoveBaseFlexConfig &config, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)
	Constructor. More...

virtual bool	cancel ()
	Cancel the planner execution. This calls the cancel method of the planner plugin. This could be useful if the computation takes too much time. More...

double	getCost ()
	Gets computed costs. More...

double	getFrequency ()
	Gets planning frequency. More...

ros::Time	getLastValidPlanTime ()
	Returns the last time a valid plan was available. More...

std::vector< geometry_msgs::PoseStamped >	getPlan ()
	Returns a new plan, if one is available. More...

PlanningState	getState ()
	Returns the current internal state. More...

bool	isPatienceExceeded ()
	Checks whether the patience was exceeded. More...

void	reconfigure (const MoveBaseFlexConfig &config)
	Is called by the server thread to reconfigure the controller execution, if a user uses dynamic reconfigure to reconfigure the current state. More...

void	setNewGoal (const geometry_msgs::PoseStamped &goal, double tolerance)
	Sets a new goal pose for the planner execution. More...

void	setNewStart (const geometry_msgs::PoseStamped &start)
	Sets a new start pose for the planner execution. More...

void	setNewStartAndGoal (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance)
	Sets a new star and goal pose for the planner execution. More...

bool	start (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance)
	Starts the planner execution thread with the given parameters. More...

virtual	~AbstractPlannerExecution ()
	Destructor. More...

Public Member Functions inherited from mbf_abstract_nav::AbstractExecutionBase
	AbstractExecutionBase (std::string name, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)

std::string	getMessage ()
	Gets the current plugin execution message. More...

std::string	getName ()
	Returns the name of the corresponding plugin. More...

uint32_t	getOutcome ()
	Gets the current plugin execution outcome. More...

void	join ()

virtual bool	start ()

virtual void	stop ()

void	waitForStateUpdate (boost::chrono::microseconds const &duration)

Protected Member Functions
virtual void	run ()
	The main run method, a thread will execute this method. It contains the main planner execution loop. More...

Protected Attributes
mbf_abstract_core::AbstractPlanner::Ptr	planner_
	the local planer to calculate the velocity command More...

std::string	plugin_name_
	the name of the loaded planner plugin More...

Protected Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
bool	cancel_
	flag for canceling controlling More...

boost::condition_variable	condition_
	condition variable to wake up control thread More...

std::string	message_
	the last received plugin execution message More...

std::string	name_
	the plugin name; not the plugin type! More...

uint32_t	outcome_
	the last received plugin execution outcome More...

boost::thread	thread_
	the controlling thread object More...

Private Member Functions
virtual uint32_t	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan, double &cost, std::string &message)
	calls the planner plugin to make a plan from the start pose to the goal pose with the given tolerance, if a goal tolerance is enabled in the planner plugin. More...

void	setState (PlanningState state)
	Sets the internal state, thread communication safe. More...

Private Attributes
boost::mutex	configuration_mutex_
	dynamic reconfigure mutex for a thread safe communication More...

double	cost_
	current global plan cost More...

double	frequency_
	planning cycle frequency (used only when running full navigation; we store here for grouping parameters nicely) More...

std::string	global_frame_
	the global frame in which the planner needs to plan More...

geometry_msgs::PoseStamped	goal_
	the current goal pose used for planning More...

boost::mutex	goal_start_mtx_
	mutex to handle safe thread communication for the goal and start pose. More...

bool	has_new_goal_
	true, if a new goal pose has been set, until it is used. More...

bool	has_new_start_
	true, if a new start pose has been set, until it is used. More...

ros::Time	last_call_start_time_
	the last call start time, updated each cycle. More...

ros::Time	last_valid_plan_time_
	the last time a valid plan has been computed. More...

int	max_retries_
	planning max retries More...

ros::Duration	patience_
	planning patience duration time More...

std::vector< geometry_msgs::PoseStamped >	plan_
	current global plan More...

boost::mutex	plan_mtx_
	mutex to handle safe thread communication for the plan and plan-costs More...

bool	planning_
	main cycle variable of the execution loop More...

boost::mutex	planning_mtx_
	mutex to handle safe thread communication for the planning_ flag. More...

std::string	robot_frame_
	robot frame used for computing the current robot pose More...

geometry_msgs::PoseStamped	start_
	the current start pose used for planning More...

PlanningState	state_
	current internal state More...

boost::mutex	state_mtx_
	mutex to handle safe thread communication for the current state More...

const TFPtr	tf_listener_ptr_
	shared pointer to a common TransformListener More...

double	tolerance_
	optional goal tolerance, in meters More...

Additional Inherited Members
Public Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
boost::function< void()>	cleanup_fn_
	Implementation-specific cleanup function called right after execution; empty on abstract server. More...

boost::function< void()>	setup_fn_
	Implementation-specific setup function called right before execution; empty on abstract server. More...

Detailed Description

The AbstractPlannerExecution class loads and binds the global planner plugin. It contains a thread running the plugin in a cycle to plan and re-plan. An internal state is saved and will be pulled by the server, which controls the global planner execution. Due to a state change it wakes up all threads connected to the condition variable.

Definition at line 76 of file abstract_planner_execution.h.

Member Typedef Documentation

typedef boost::shared_ptr<AbstractPlannerExecution > mbf_abstract_nav::AbstractPlannerExecution::Ptr

shared pointer type to the planner execution.

Definition at line 81 of file abstract_planner_execution.h.

Member Enumeration Documentation

enum mbf_abstract_nav::AbstractPlannerExecution::PlanningState

Internal states.

Enumerator
INITIALIZED	Planner initialized.
STARTED	Planner started.
PLANNING	Executing the plugin.
FOUND_PLAN	Found a valid plan.
MAX_RETRIES	Exceeded the maximum number of retries without a valid command.
PAT_EXCEEDED	Exceeded the patience time without a valid command.
NO_PLAN_FOUND	No plan has been found (MAX_RETRIES and PAT_EXCEEDED are 0).
CANCELED	The planner has been canceled.
STOPPED	The planner has been stopped.
INTERNAL_ERROR	An internal error occurred.

Definition at line 120 of file abstract_planner_execution.h.

Constructor & Destructor Documentation

mbf_abstract_nav::AbstractPlannerExecution::AbstractPlannerExecution	(	const std::string	name,
		const mbf_abstract_core::AbstractPlanner::Ptr	planner_ptr,
		const MoveBaseFlexConfig &	config,
		boost::function< void()>	setup_fn,
		boost::function< void()>	cleanup_fn
	)

Constructor.

Parameters

condition Thread sleep condition variable, to wake up connected threads

Definition at line 47 of file abstract_planner_execution.cpp.

mbf_abstract_nav::AbstractPlannerExecution::~AbstractPlannerExecution ( )

virtual

Destructor.

Definition at line 66 of file abstract_planner_execution.cpp.

Member Function Documentation

bool mbf_abstract_nav::AbstractPlannerExecution::cancel ( )

virtual

Cancel the planner execution. This calls the cancel method of the planner plugin. This could be useful if the computation takes too much time.

Returns: true, if the planner plugin tries / tried to cancel the planning step.

Implements mbf_abstract_nav::AbstractExecutionBase.

Definition at line 193 of file abstract_planner_execution.cpp.

double mbf_abstract_nav::AbstractPlannerExecution::getCost ( )

Gets computed costs.

Returns: The costs of the computed path

Definition at line 71 of file abstract_planner_execution.cpp.

double mbf_abstract_nav::AbstractPlannerExecution::getFrequency ( )

inline

Gets planning frequency.

Definition at line 143 of file abstract_planner_execution.h.

ros::Time mbf_abstract_nav::AbstractPlannerExecution::getLastValidPlanTime ( )

Returns the last time a valid plan was available.

Returns: time, the last valid plan was available.

Definition at line 118 of file abstract_planner_execution.cpp.

std::vector< geometry_msgs::PoseStamped > mbf_abstract_nav::AbstractPlannerExecution::getPlan ( )

Returns a new plan, if one is available.

Parameters

plan	A reference to a plan, which then will be filled.
cost	A reference to the costs, which then will be filled.

Definition at line 131 of file abstract_planner_execution.cpp.

AbstractPlannerExecution::PlanningState mbf_abstract_nav::AbstractPlannerExecution::getState ( )

Returns the current internal state.

Returns: the current internal state

Definition at line 105 of file abstract_planner_execution.cpp.

bool mbf_abstract_nav::AbstractPlannerExecution::isPatienceExceeded ( )

Checks whether the patience was exceeded.

Returns: true, if the patience duration was exceeded.

Definition at line 125 of file abstract_planner_execution.cpp.

uint32_t mbf_abstract_nav::AbstractPlannerExecution::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance,
		std::vector< geometry_msgs::PoseStamped > &	plan,
		double &	cost,
		std::string &	message
	)

privatevirtual

calls the planner plugin to make a plan from the start pose to the goal pose with the given tolerance, if a goal tolerance is enabled in the planner plugin.

Parameters

start	The start pose for planning
goal	The goal pose for planning
tolerance	The goal tolerance
plan	The computed plan by the plugin
cost	The computed costs for the corresponding plan
message	An optional message which should correspond with the returned outcome

Returns: An outcome number, see also the action definition in the GetPath.action file

Definition at line 208 of file abstract_planner_execution.cpp.

void mbf_abstract_nav::AbstractPlannerExecution::reconfigure ( const MoveBaseFlexConfig & config )

Is called by the server thread to reconfigure the controller execution, if a user uses dynamic reconfigure to reconfigure the current state.

Parameters

config MoveBaseFlexConfig object

Definition at line 92 of file abstract_planner_execution.cpp.

void mbf_abstract_nav::AbstractPlannerExecution::run ( )

protectedvirtual

The main run method, a thread will execute this method. It contains the main planner execution loop.

Implements mbf_abstract_nav::AbstractExecutionBase.

Definition at line 218 of file abstract_planner_execution.cpp.

void mbf_abstract_nav::AbstractPlannerExecution::setNewGoal	(	const geometry_msgs::PoseStamped &	goal,
		double	tolerance
	)

Sets a new goal pose for the planner execution.

Parameters

goal	the new goal pose
tolerance	tolerance to the goal for the planning

Definition at line 139 of file abstract_planner_execution.cpp.

void mbf_abstract_nav::AbstractPlannerExecution::setNewStart ( const geometry_msgs::PoseStamped & start )

Sets a new start pose for the planner execution.

Parameters

start new start pose

Definition at line 148 of file abstract_planner_execution.cpp.

void mbf_abstract_nav::AbstractPlannerExecution::setNewStartAndGoal	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance
	)

Sets a new star and goal pose for the planner execution.

Parameters

start	new start pose
goal	new goal pose
tolerance	tolerance to the new goal for the planning

Definition at line 156 of file abstract_planner_execution.cpp.

void mbf_abstract_nav::AbstractPlannerExecution::setState ( PlanningState state )

private

Sets the internal state, thread communication safe.

Parameters

state the current state

Definition at line 111 of file abstract_planner_execution.cpp.

bool mbf_abstract_nav::AbstractPlannerExecution::start	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance
	)

Starts the planner execution thread with the given parameters.

Parameters

start	start pose for the planning
goal	goal pose for the planning
tolerance	tolerance to the goal pose for the planning

Returns: true, if the planner thread has been started, false if the thread is already running.

Definition at line 169 of file abstract_planner_execution.cpp.

Member Data Documentation

boost::mutex mbf_abstract_nav::AbstractPlannerExecution::configuration_mutex_

private

dynamic reconfigure mutex for a thread safe communication

Definition at line 301 of file abstract_planner_execution.h.

double mbf_abstract_nav::AbstractPlannerExecution::cost_

private

current global plan cost

Definition at line 265 of file abstract_planner_execution.h.

double mbf_abstract_nav::AbstractPlannerExecution::frequency_

private

planning cycle frequency (used only when running full navigation; we store here for grouping parameters nicely)

Definition at line 277 of file abstract_planner_execution.h.

std::string mbf_abstract_nav::AbstractPlannerExecution::global_frame_

private

the global frame in which the planner needs to plan

Definition at line 292 of file abstract_planner_execution.h.

geometry_msgs::PoseStamped mbf_abstract_nav::AbstractPlannerExecution::goal_

private

the current goal pose used for planning

Definition at line 271 of file abstract_planner_execution.h.

boost::mutex mbf_abstract_nav::AbstractPlannerExecution::goal_start_mtx_

private

mutex to handle safe thread communication for the goal and start pose.

Definition at line 244 of file abstract_planner_execution.h.

bool mbf_abstract_nav::AbstractPlannerExecution::has_new_goal_

private

true, if a new goal pose has been set, until it is used.

Definition at line 250 of file abstract_planner_execution.h.

bool mbf_abstract_nav::AbstractPlannerExecution::has_new_start_

private

true, if a new start pose has been set, until it is used.

Definition at line 253 of file abstract_planner_execution.h.

ros::Time mbf_abstract_nav::AbstractPlannerExecution::last_call_start_time_

private

the last call start time, updated each cycle.

Definition at line 256 of file abstract_planner_execution.h.

ros::Time mbf_abstract_nav::AbstractPlannerExecution::last_valid_plan_time_

private

the last time a valid plan has been computed.

Definition at line 259 of file abstract_planner_execution.h.

int mbf_abstract_nav::AbstractPlannerExecution::max_retries_

private

planning max retries

Definition at line 283 of file abstract_planner_execution.h.

ros::Duration mbf_abstract_nav::AbstractPlannerExecution::patience_

private

planning patience duration time

Definition at line 280 of file abstract_planner_execution.h.

std::vector<geometry_msgs::PoseStamped> mbf_abstract_nav::AbstractPlannerExecution::plan_

private

current global plan

Definition at line 262 of file abstract_planner_execution.h.

boost::mutex mbf_abstract_nav::AbstractPlannerExecution::plan_mtx_

private

mutex to handle safe thread communication for the plan and plan-costs

Definition at line 241 of file abstract_planner_execution.h.

mbf_abstract_core::AbstractPlanner::Ptr mbf_abstract_nav::AbstractPlannerExecution::planner_

protected

the local planer to calculate the velocity command

Definition at line 200 of file abstract_planner_execution.h.

bool mbf_abstract_nav::AbstractPlannerExecution::planning_

private

main cycle variable of the execution loop

Definition at line 286 of file abstract_planner_execution.h.

boost::mutex mbf_abstract_nav::AbstractPlannerExecution::planning_mtx_

private

mutex to handle safe thread communication for the planning_ flag.

Definition at line 247 of file abstract_planner_execution.h.

std::string mbf_abstract_nav::AbstractPlannerExecution::plugin_name_

protected

the name of the loaded planner plugin

Definition at line 203 of file abstract_planner_execution.h.

std::string mbf_abstract_nav::AbstractPlannerExecution::robot_frame_

private

robot frame used for computing the current robot pose

Definition at line 289 of file abstract_planner_execution.h.

geometry_msgs::PoseStamped mbf_abstract_nav::AbstractPlannerExecution::start_

private

the current start pose used for planning

Definition at line 268 of file abstract_planner_execution.h.

PlanningState mbf_abstract_nav::AbstractPlannerExecution::state_

private

current internal state

Definition at line 298 of file abstract_planner_execution.h.

boost::mutex mbf_abstract_nav::AbstractPlannerExecution::state_mtx_

private

mutex to handle safe thread communication for the current state

Definition at line 238 of file abstract_planner_execution.h.

const TFPtr mbf_abstract_nav::AbstractPlannerExecution::tf_listener_ptr_

private

shared pointer to a common TransformListener

Definition at line 295 of file abstract_planner_execution.h.

double mbf_abstract_nav::AbstractPlannerExecution::tolerance_

private

optional goal tolerance, in meters

Definition at line 274 of file abstract_planner_execution.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation