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)
	Constructor. More...

	AbstractPlannerExecution (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr, const TFPtr &tf_listener_ptr, const MoveBaseFlexConfig &config)
	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, or if we are aborting the navigation. More...

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

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

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

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

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

bool	isPatienceExceeded () const
	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 (const std::string &name)

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

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

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

void	join ()

virtual void	postRun ()
	Optional implementation-specific cleanup function, called right after execution. More...

virtual void	preRun ()
	Optional implementation-specific setup function, called right before execution. More...

virtual void	reconfigure (MoveBaseFlexConfig &_cfg)
	Optional implementaiton-specific configuration function. More...

virtual bool	start ()

virtual void	stop ()

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

virtual	~AbstractExecutionBase ()

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 robot trajectory More...

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

const TFPtr	tf_listener_ptr_
	shared pointer to a common TransformListener 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, bool signalling)
	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...

double	tolerance_
	optional goal tolerance, in meters 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 74 of file abstract_planner_execution.h.

Member Typedef Documentation

◆ Ptr

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

shared pointer type to the planner execution.

Definition at line 79 of file abstract_planner_execution.h.

Member Enumeration Documentation

◆ PlanningState

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 125 of file abstract_planner_execution.h.

Constructor & Destructor Documentation

◆ AbstractPlannerExecution() [1/2]

mbf_abstract_nav::AbstractPlannerExecution::AbstractPlannerExecution	(	const std::string &	name,
		const mbf_abstract_core::AbstractPlanner::Ptr &	planner_ptr,
		const MoveBaseFlexConfig &	config
	)

Constructor.

Parameters

name	Name of this execution
planner_ptr	Pointer to the planner
config	Initial configuration for this execution

Definition at line 45 of file src/abstract_planner_execution.cpp.

◆ AbstractPlannerExecution() [2/2]

mbf_abstract_nav::AbstractPlannerExecution::AbstractPlannerExecution	(	const std::string &	name,
		const mbf_abstract_core::AbstractPlanner::Ptr &	planner_ptr,
		const TFPtr &	tf_listener_ptr,
		const MoveBaseFlexConfig &	config
	)

Constructor.

Parameters

name	Name of this execution
planner_ptr	Pointer to the planner
tf_listener_ptr	Shared Pointer to a tf-listener.
config	Initial configuration for this execution

Definition at line 66 of file src/abstract_planner_execution.cpp.

◆ ~AbstractPlannerExecution()

mbf_abstract_nav::AbstractPlannerExecution::~AbstractPlannerExecution ( )

virtual

Destructor.

Definition at line 88 of file src/abstract_planner_execution.cpp.

Member Function Documentation

◆ cancel()

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, or if we are aborting the navigation.

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

Reimplemented from mbf_abstract_nav::AbstractExecutionBase.

Definition at line 231 of file src/abstract_planner_execution.cpp.

◆ getCost()

double mbf_abstract_nav::AbstractPlannerExecution::getCost ( ) const

Gets computed costs.

Returns: The costs of the computed path

Definition at line 110 of file src/abstract_planner_execution.cpp.

◆ getFrequency()

double mbf_abstract_nav::AbstractPlannerExecution::getFrequency ( ) const

inline

Gets planning frequency.

Definition at line 148 of file abstract_planner_execution.h.

◆ getLastValidPlanTime()

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

Returns the last time a valid plan was available.

Returns: time, the last valid plan was available.

Definition at line 156 of file src/abstract_planner_execution.cpp.

◆ getPlan()

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

Returns a new plan, if one is available.

Definition at line 169 of file src/abstract_planner_execution.cpp.

◆ getState()

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

Returns the current internal state.

Returns: the current internal state

Definition at line 136 of file src/abstract_planner_execution.cpp.

◆ isPatienceExceeded()

bool mbf_abstract_nav::AbstractPlannerExecution::isPatienceExceeded ( ) const

Checks whether the patience was exceeded.

Returns: true, if the patience duration was exceeded.

Definition at line 163 of file src/abstract_planner_execution.cpp.

◆ makePlan()

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 246 of file src/abstract_planner_execution.cpp.

◆ reconfigure()

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 115 of file src/abstract_planner_execution.cpp.

◆ run()

void mbf_abstract_nav::AbstractPlannerExecution::run ( )

protectedvirtual

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

Reimplemented from mbf_abstract_nav::AbstractExecutionBase.

Definition at line 256 of file src/abstract_planner_execution.cpp.

◆ setNewGoal()

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 177 of file src/abstract_planner_execution.cpp.

◆ setNewStart()

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 186 of file src/abstract_planner_execution.cpp.

◆ setNewStartAndGoal()

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 194 of file src/abstract_planner_execution.cpp.

◆ setState()

void mbf_abstract_nav::AbstractPlannerExecution::setState	(	PlanningState	state,
		bool	signalling
	)

private

Sets the internal state, thread communication safe.

Parameters

state	the current state
signalling	set true to trigger the condition-variable for state-update

Definition at line 142 of file src/abstract_planner_execution.cpp.

◆ start()

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 207 of file src/abstract_planner_execution.cpp.

Member Data Documentation

◆ configuration_mutex_

boost::mutex mbf_abstract_nav::AbstractPlannerExecution::configuration_mutex_

mutableprivate

dynamic reconfigure mutex for a thread safe communication

Definition at line 259 of file abstract_planner_execution.h.

◆ cost_

double mbf_abstract_nav::AbstractPlannerExecution::cost_

private

current global plan cost

Definition at line 277 of file abstract_planner_execution.h.

◆ frequency_

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 289 of file abstract_planner_execution.h.

◆ global_frame_

std::string mbf_abstract_nav::AbstractPlannerExecution::global_frame_

private

the global frame in which the planner needs to plan

Definition at line 304 of file abstract_planner_execution.h.

◆ goal_

geometry_msgs::PoseStamped mbf_abstract_nav::AbstractPlannerExecution::goal_

private

the current goal pose used for planning

Definition at line 283 of file abstract_planner_execution.h.

◆ goal_start_mtx_

boost::mutex mbf_abstract_nav::AbstractPlannerExecution::goal_start_mtx_

mutableprivate

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

Definition at line 253 of file abstract_planner_execution.h.

◆ has_new_goal_

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 262 of file abstract_planner_execution.h.

◆ has_new_start_

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 265 of file abstract_planner_execution.h.

◆ last_call_start_time_

ros::Time mbf_abstract_nav::AbstractPlannerExecution::last_call_start_time_

private

the last call start time, updated each cycle.

Definition at line 268 of file abstract_planner_execution.h.

◆ last_valid_plan_time_

ros::Time mbf_abstract_nav::AbstractPlannerExecution::last_valid_plan_time_

private

the last time a valid plan has been computed.

Definition at line 271 of file abstract_planner_execution.h.

◆ max_retries_

int mbf_abstract_nav::AbstractPlannerExecution::max_retries_

private

planning max retries

Definition at line 295 of file abstract_planner_execution.h.

◆ patience_

ros::Duration mbf_abstract_nav::AbstractPlannerExecution::patience_

private

planning patience duration time

Definition at line 292 of file abstract_planner_execution.h.

◆ plan_

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

private

current global plan

Definition at line 274 of file abstract_planner_execution.h.

◆ plan_mtx_

boost::mutex mbf_abstract_nav::AbstractPlannerExecution::plan_mtx_

mutableprivate

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

Definition at line 250 of file abstract_planner_execution.h.

◆ planner_

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

protected

the local planer to calculate the robot trajectory

Definition at line 205 of file abstract_planner_execution.h.

◆ planning_

bool mbf_abstract_nav::AbstractPlannerExecution::planning_

private

main cycle variable of the execution loop

Definition at line 298 of file abstract_planner_execution.h.

◆ planning_mtx_

boost::mutex mbf_abstract_nav::AbstractPlannerExecution::planning_mtx_

mutableprivate

mutex to handle safe thread communication for the planning_ flag.

Definition at line 256 of file abstract_planner_execution.h.

◆ plugin_name_

std::string mbf_abstract_nav::AbstractPlannerExecution::plugin_name_

protected

the name of the loaded planner plugin

Definition at line 208 of file abstract_planner_execution.h.

◆ robot_frame_

std::string mbf_abstract_nav::AbstractPlannerExecution::robot_frame_

private

robot frame used for computing the current robot pose

Definition at line 301 of file abstract_planner_execution.h.

◆ start_

geometry_msgs::PoseStamped mbf_abstract_nav::AbstractPlannerExecution::start_

private

the current start pose used for planning

Definition at line 280 of file abstract_planner_execution.h.

◆ state_

PlanningState mbf_abstract_nav::AbstractPlannerExecution::state_

private

current internal state

Definition at line 307 of file abstract_planner_execution.h.

◆ state_mtx_

boost::mutex mbf_abstract_nav::AbstractPlannerExecution::state_mtx_

mutableprivate

mutex to handle safe thread communication for the current state

Definition at line 247 of file abstract_planner_execution.h.

◆ tf_listener_ptr_

const TFPtr mbf_abstract_nav::AbstractPlannerExecution::tf_listener_ptr_

protected

shared pointer to a common TransformListener

Definition at line 211 of file abstract_planner_execution.h.

◆ tolerance_

double mbf_abstract_nav::AbstractPlannerExecution::tolerance_

private

optional goal tolerance, in meters

Definition at line 286 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

Detailed Description

Member Typedef Documentation

◆ Ptr

Member Enumeration Documentation

◆ PlanningState

Constructor & Destructor Documentation

◆ AbstractPlannerExecution() [1/2]

◆ AbstractPlannerExecution() [2/2]

◆ ~AbstractPlannerExecution()

Member Function Documentation

◆ cancel()

◆ getCost()

◆ getFrequency()

◆ getLastValidPlanTime()

◆ getPlan()

◆ getState()

◆ isPatienceExceeded()

◆ makePlan()

◆ reconfigure()

◆ run()

◆ setNewGoal()

◆ setNewStart()

◆ setNewStartAndGoal()

◆ setState()

◆ start()

Member Data Documentation

◆ configuration_mutex_

◆ cost_

◆ frequency_

◆ global_frame_

◆ goal_

◆ goal_start_mtx_

◆ has_new_goal_

◆ has_new_start_

◆ last_call_start_time_

◆ last_valid_plan_time_

◆ max_retries_

◆ patience_

◆ plan_

◆ plan_mtx_

◆ planner_

◆ planning_

◆ planning_mtx_

◆ plugin_name_

◆ robot_frame_

◆ start_

◆ state_

◆ state_mtx_

◆ tf_listener_ptr_

◆ tolerance_