#include <costmap_controller.h>
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| virtual bool | cancel ()=0 |
| | Requests the planner to cancel, e.g. if it takes too much time. More...
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| virtual uint32_t | computeVelocityCommands (const geometry_msgs::PoseStamped &pose, const geometry_msgs::TwistStamped &velocity, geometry_msgs::TwistStamped &cmd_vel, std::string &message)=0 |
| | Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base. More...
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| virtual void | initialize (std::string name, ::TF *tf, costmap_2d::Costmap2DROS *costmap_ros)=0 |
| | Constructs the local planner. More...
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| virtual bool | isGoalReached (double xy_tolerance, double yaw_tolerance)=0 |
| | Check if the goal pose has been achieved by the local planner within tolerance limits. More...
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| virtual bool | setPlan (const std::vector< geometry_msgs::PoseStamped > &plan)=0 |
| | Set the plan that the local planner is following. More...
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| virtual | ~CostmapController () |
| | Virtual destructor for the interface. More...
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| virtual | ~AbstractController () |
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Definition at line 53 of file costmap_controller.h.
◆ Ptr
◆ ~CostmapController()
| virtual mbf_costmap_core::CostmapController::~CostmapController |
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inlinevirtual |
◆ CostmapController()
| mbf_costmap_core::CostmapController::CostmapController |
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inlineprotected |
◆ cancel()
| virtual bool mbf_costmap_core::CostmapController::cancel |
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pure virtual |
Requests the planner to cancel, e.g. if it takes too much time.
- Returns
- True if a cancel has been successfully requested, false if not implemented.
Implements mbf_abstract_core::AbstractController.
◆ computeVelocityCommands()
| virtual uint32_t mbf_costmap_core::CostmapController::computeVelocityCommands |
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const geometry_msgs::PoseStamped & |
pose, |
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const geometry_msgs::TwistStamped & |
velocity, |
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geometry_msgs::TwistStamped & |
cmd_vel, |
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std::string & |
message |
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pure virtual |
Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.
- Parameters
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| pose | the current pose of the robot. |
| velocity | the current velocity of the robot. |
| cmd_vel | Will be filled with the velocity command to be passed to the robot base. |
| message | Optional more detailed outcome as a string |
- Returns
- Result code as described on ExePath action result: SUCCESS = 0 1..9 are reserved as plugin specific non-error results FAILURE = 100 Unspecified failure, only used for old, non-mfb_core based plugins CANCELED = 101 NO_VALID_CMD = 102 PAT_EXCEEDED = 103 COLLISION = 104 OSCILLATION = 105 ROBOT_STUCK = 106 MISSED_GOAL = 107 MISSED_PATH = 108 BLOCKED_PATH = 109 INVALID_PATH = 110 TF_ERROR = 111 NOT_INITIALIZED = 112 INVALID_PLUGIN = 113 INTERNAL_ERROR = 114 121..149 are reserved as plugin specific errors
Implements mbf_abstract_core::AbstractController.
◆ initialize()
| virtual void mbf_costmap_core::CostmapController::initialize |
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std::string |
name, |
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::TF * |
tf, |
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costmap_2d::Costmap2DROS * |
costmap_ros |
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pure virtual |
Constructs the local planner.
- Parameters
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| name | The name to give this instance of the local planner |
| tf | A pointer to a transform listener |
| costmap_ros | The cost map to use for assigning costs to local plans |
◆ isGoalReached()
| virtual bool mbf_costmap_core::CostmapController::isGoalReached |
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double |
xy_tolerance, |
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double |
yaw_tolerance |
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pure virtual |
Check if the goal pose has been achieved by the local planner within tolerance limits.
- Parameters
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| xy_tolerance | Distance tolerance in meters |
| yaw_tolerance | Heading tolerance in radians |
- Returns
- True if achieved, false otherwise
Implements mbf_abstract_core::AbstractController.
◆ setPlan()
| virtual bool mbf_costmap_core::CostmapController::setPlan |
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const std::vector< geometry_msgs::PoseStamped > & |
plan | ) |
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pure virtual |
Set the plan that the local planner is following.
- Parameters
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| plan | The plan to pass to the local planner |
- Returns
- True if the plan was updated successfully, false otherwise
Implements mbf_abstract_core::AbstractController.
The documentation for this class was generated from the following file:
Public Types inherited from mbf_abstract_core::AbstractController