Classes
class	CostmapAdapter

class	GlobalPlannerAdapter
	used for employing a `nav_core2` global planner interface as a `nav_core` plugin, like in `move_base`. More...

class	GlobalPlannerAdapter2
	used for employing a `nav_core` global planner (such as `navfn`) as a `nav_core2` plugin, like in `locomotor`. More...

class	LocalPlannerAdapter
	used for employing a nav_core2 local planner (such as dwb) as a nav_core plugin, like in move_base. More...

Functions
template<typename T >
std::shared_ptr< T >	createSharedPointerWithNoDelete (T *raw_ptr)
	Custom Constructor for creating a shared pointer to an existing object that doesn't delete the ptr when done. More...

nav_grid::NavGridInfo	infoFromCostmap (costmap_2d::Costmap2DROS *costmap_ros)

template<typename T >
void	null_deleter (T *raw_ptr)

Function Documentation

template<typename T >

std::shared_ptr<T> nav_core_adapter::createSharedPointerWithNoDelete ( T * raw_ptr )

Custom Constructor for creating a shared pointer to an existing object that doesn't delete the ptr when done.

Note: This is considered bad form, and is only done here for backwards compatibility purposes. The nav_core2 interfaces require shared pointers, but the creation of the shared pointer from a raw pointer takes ownership of the object such that when the object containing the shared pointer is freed, the object pointed at by the shared pointer is also freed. This presents a problem, for instance, when switching from one planner to another if the costmap is freed by one planner.

Parameters

raw_ptr The raw pointer to an object

Returns: A Shared pointer pointing at the raw_ptr, but when it is freed, the raw_ptr remains valid

Definition at line 59 of file shared_pointers.h.

nav_grid::NavGridInfo nav_core_adapter::infoFromCostmap ( costmap_2d::Costmap2DROS * costmap_ros )

Definition at line 45 of file costmap_adapter.cpp.

template<typename T >

void nav_core_adapter::null_deleter ( T * raw_ptr )

Definition at line 44 of file shared_pointers.h.

Classes