The CostmapRecoveryExecution binds a local and a global costmap to the AbstractRecoveryExecution and uses the nav_core/CostmapRecovery class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...

#include <costmap_recovery_execution.h>

Inheritance diagram for mbf_costmap_nav::CostmapRecoveryExecution:

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

typedef boost::shared_ptr< CostmapRecoveryExecution >	Ptr

Public Types inherited from mbf_abstract_nav::AbstractRecoveryExecution
typedef boost::shared_ptr< AbstractRecoveryExecution >	Ptr

enum	RecoveryState

Public Member Functions
	CostmapRecoveryExecution (const std::string name, const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr, const TFPtr &tf_listener_ptr, CostmapPtr &global_costmap, CostmapPtr &local_costmap, const MoveBaseFlexConfig &config, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)
	Constructor. More...

virtual	~CostmapRecoveryExecution ()

Public Member Functions inherited from mbf_abstract_nav::AbstractRecoveryExecution
	AbstractRecoveryExecution (const std::string name, const mbf_abstract_core::AbstractRecovery::Ptr recovery_ptr, const TFPtr &tf_listener_ptr, const MoveBaseFlexConfig &config, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)

virtual bool	cancel ()

AbstractRecoveryExecution::RecoveryState	getState ()

bool	isPatienceExceeded ()

void	reconfigure (const MoveBaseFlexConfig &config)

virtual	~AbstractRecoveryExecution ()

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)

Protected Attributes
CostmapPtr &	global_costmap_
	Shared pointer to the global costmap. More...

CostmapPtr &	local_costmap_
	Shared pointer to thr local costmap. More...

Protected Attributes inherited from mbf_abstract_nav::AbstractRecoveryExecution
mbf_abstract_core::AbstractRecovery::Ptr	behavior_

const TFPtr	tf_listener_ptr_

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_

Private Member Functions
mbf_abstract_nav::MoveBaseFlexConfig	toAbstract (const MoveBaseFlexConfig &config)

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

	INITIALIZED

	INTERNAL_ERROR

	RECOVERING

	RECOVERY_DONE

	STARTED

	STOPPED

	WRONG_NAME

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::AbstractRecoveryExecution
virtual void	run ()

Detailed Description

The CostmapRecoveryExecution binds a local and a global costmap to the AbstractRecoveryExecution and uses the nav_core/CostmapRecovery class as base plugin interface. This class makes move_base_flex compatible to the old move_base.

Definition at line 58 of file costmap_recovery_execution.h.

Member Typedef Documentation

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

Definition at line 62 of file costmap_recovery_execution.h.

typedef boost::shared_ptr<CostmapRecoveryExecution> mbf_costmap_nav::CostmapRecoveryExecution::Ptr

Definition at line 63 of file costmap_recovery_execution.h.

Constructor & Destructor Documentation

mbf_costmap_nav::CostmapRecoveryExecution::CostmapRecoveryExecution	(	const std::string	name,
		const mbf_costmap_core::CostmapRecovery::Ptr &	recovery_ptr,
		const TFPtr &	tf_listener_ptr,
		CostmapPtr &	global_costmap,
		CostmapPtr &	local_costmap,
		const MoveBaseFlexConfig &	config,
		boost::function< void()>	setup_fn,
		boost::function< void()>	cleanup_fn
	)

Constructor.

Parameters

tf_listener_ptr	Shared pointer to a common tf listener
global_costmap	Shared pointer to the global costmap.
local_costmap	Shared pointer to the local costmap.

Definition at line 47 of file costmap_recovery_execution.cpp.

mbf_costmap_nav::CostmapRecoveryExecution::~CostmapRecoveryExecution ( )

virtual

Destructor

Definition at line 60 of file costmap_recovery_execution.cpp.