The CostmapPlannerExecution binds a global costmap to the AbstractPlannerExecution and uses the nav_core/BaseCostmapPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...

#include <costmap_planner_execution.h>

Inheritance diagram for mbf_costmap_nav::CostmapPlannerExecution:

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Public Types
typedef boost::shared_ptr< costmap_2d::Costmap2DROS >	CostmapPtr

Public Types inherited from mbf_abstract_nav::AbstractPlannerExecution
enum	PlanningState

typedef boost::shared_ptr< AbstractPlannerExecution >	Ptr

Public Member Functions
	CostmapPlannerExecution (const std::string name, const mbf_costmap_core::CostmapPlanner::Ptr &planner_ptr, CostmapPtr &costmap, const MoveBaseFlexConfig &config, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)
	Constructor. More...

virtual	~CostmapPlannerExecution ()
	Destructor. More...

Public Member Functions inherited from 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)

virtual bool	cancel ()

double	getCost ()

double	getFrequency ()

ros::Time	getLastValidPlanTime ()

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

PlanningState	getState ()

bool	isPatienceExceeded ()

void	reconfigure (const MoveBaseFlexConfig &config)

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

void	setNewStart (const geometry_msgs::PoseStamped &start)

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

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

virtual	~AbstractPlannerExecution ()

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 ()

std::string	getName ()

uint32_t	getOutcome ()

void	join ()

virtual bool	start ()

virtual void	stop ()

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

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...

mbf_abstract_nav::MoveBaseFlexConfig	toAbstract (const MoveBaseFlexConfig &config)

Private Attributes
CostmapPtr &	costmap_ptr_
	Shared pointer to the global planner costmap. More...

bool	lock_costmap_
	Whether to lock costmap before calling the planner (see issue #4 for details) More...

std::string	planner_name_
	Name of the planner assigned by the class loader. More...

Additional Inherited Members
Public Attributes inherited from mbf_abstract_nav::AbstractPlannerExecution
	CANCELED

	FOUND_PLAN

	INITIALIZED

	INTERNAL_ERROR

	MAX_RETRIES

	NO_PLAN_FOUND

	PAT_EXCEEDED

	PLANNING

	STARTED

	STOPPED

Public Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
boost::function< void()>	cleanup_fn_

boost::function< void()>	setup_fn_

Protected Member Functions inherited from mbf_abstract_nav::AbstractPlannerExecution
virtual void	run ()

Protected Attributes inherited from mbf_abstract_nav::AbstractPlannerExecution
mbf_abstract_core::AbstractPlanner::Ptr	planner_

std::string	plugin_name_

Protected Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
bool	cancel_

boost::condition_variable	condition_

std::string	message_

std::string	name_

uint32_t	outcome_

boost::thread	thread_

Detailed Description

The CostmapPlannerExecution binds a global costmap to the AbstractPlannerExecution and uses the nav_core/BaseCostmapPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base.

Definition at line 57 of file costmap_planner_execution.h.

Member Typedef Documentation

typedef boost::shared_ptr<costmap_2d::Costmap2DROS> mbf_costmap_nav::CostmapPlannerExecution::CostmapPtr

Definition at line 60 of file costmap_planner_execution.h.

Constructor & Destructor Documentation

mbf_costmap_nav::CostmapPlannerExecution::CostmapPlannerExecution	(	const std::string	name,
		const mbf_costmap_core::CostmapPlanner::Ptr &	planner_ptr,
		CostmapPtr &	costmap,
		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
costmap	Shared pointer to the costmap.

Definition at line 47 of file costmap_planner_execution.cpp.

mbf_costmap_nav::CostmapPlannerExecution::~CostmapPlannerExecution ( )

virtual

Destructor.

Definition at line 61 of file costmap_planner_execution.cpp.

Member Function Documentation

uint32_t mbf_costmap_nav::CostmapPlannerExecution::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