#include <planner_action.h>

Inheritance diagram for mbf_abstract_nav::PlannerAction:

Public Types
typedef boost::shared_ptr< PlannerAction >	Ptr

Public Member Functions
	PlannerAction (const std::string &name, const mbf_utility::RobotInformation &robot_info)

void	runImpl (GoalHandle &goal_handle, AbstractPlannerExecution &execution)

Protected Member Functions
bool	transformPlanToGlobalFrame (const std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan)
	Transforms a plan to the global frame (global_frame_) coord system. More...

Private Attributes
ros::Publisher	current_goal_pub_
	Publisher to publish the current goal pose, which is used for path planning. More...

unsigned int	path_seq_count_
	Path sequence counter. More...

Detailed Description

Definition at line 56 of file planner_action.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 60 of file planner_action.h.

Constructor & Destructor Documentation

◆ PlannerAction()

mbf_abstract_nav::PlannerAction::PlannerAction	(	const std::string &	name,
		const mbf_utility::RobotInformation &	robot_info
	)

Definition at line 48 of file src/planner_action.cpp.

Member Function Documentation

◆ runImpl()

void mbf_abstract_nav::PlannerAction::runImpl	(	GoalHandle &	goal_handle,
		AbstractPlannerExecution &	execution
	)

Definition at line 58 of file src/planner_action.cpp.

◆ transformPlanToGlobalFrame()

bool mbf_abstract_nav::PlannerAction::transformPlanToGlobalFrame	(	const std::vector< geometry_msgs::PoseStamped > &	plan,
		std::vector< geometry_msgs::PoseStamped > &	global_plan
	)

protected

Transforms a plan to the global frame (global_frame_) coord system.

Parameters

plan	Input plan to be transformed.
global_plan	Output plan, which is then transformed to the global frame.

Returns: true, if the transformation succeeded, false otherwise

Definition at line 261 of file src/planner_action.cpp.

Member Data Documentation

◆ current_goal_pub_

ros::Publisher mbf_abstract_nav::PlannerAction::current_goal_pub_

private

Publisher to publish the current goal pose, which is used for path planning.

Definition at line 83 of file planner_action.h.

◆ path_seq_count_

unsigned int mbf_abstract_nav::PlannerAction::path_seq_count_

private

Path sequence counter.

Definition at line 86 of file planner_action.h.

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

Public Types

Public Member Functions

Protected Member Functions

Private Attributes