mbf_costmap_core::CostmapRecovery Class Reference

Provides an interface for recovery behaviors used in navigation. All recovery behaviors written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_corebased plugins, providing backward compatibility. More...

#include <costmap_recovery.h>

Inheritance diagram for mbf_costmap_core::CostmapRecovery:

Public Types
typedef boost::shared_ptr< ::mbf_costmap_core::CostmapRecovery >	Ptr
Public Types inherited from mbf_abstract_core::AbstractRecovery
typedef boost::shared_ptr< ::mbf_abstract_core::AbstractRecovery >	Ptr

Public Member Functions
virtual bool	cancel ()=0
	Requests the planner to cancel, e.g. if it takes too much time. More...
virtual void	initialize (std::string name, TF *tf, costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap)=0
	Initialization function for the CostmapRecovery. More...
virtual uint32_t	runBehavior (std::string &message)=0
	Runs the CostmapRecovery. More...
virtual	~CostmapRecovery ()
	Virtual destructor for the interface. More...
Public Member Functions inherited from mbf_abstract_core::AbstractRecovery
virtual	~AbstractRecovery ()

Protected Member Functions
	CostmapRecovery ()
Protected Member Functions inherited from mbf_abstract_core::AbstractRecovery
	AbstractRecovery ()

Detailed Description

Provides an interface for recovery behaviors used in navigation. All recovery behaviors written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_corebased plugins, providing backward compatibility.

Definition at line 54 of file costmap_recovery.h.

Member Typedef Documentation

Ptr

typedef boost::shared_ptr< ::mbf_costmap_core::CostmapRecovery> mbf_costmap_core::CostmapRecovery::Ptr

Definition at line 57 of file costmap_recovery.h.

Constructor & Destructor Documentation

~CostmapRecovery()

virtual mbf_costmap_core::CostmapRecovery::~CostmapRecovery ( )

inlinevirtual

Virtual destructor for the interface.

Definition at line 86 of file costmap_recovery.h.

CostmapRecovery()

mbf_costmap_core::CostmapRecovery::CostmapRecovery ( )

inlineprotected

Definition at line 89 of file costmap_recovery.h.

Member Function Documentation

cancel()

virtual bool mbf_costmap_core::CostmapRecovery::cancel ( )

pure virtual

Requests the planner to cancel, e.g. if it takes too much time.

Remarks

New on MBF API

Returns

True if a cancel has been successfully requested, false if not implemented.

Implements mbf_abstract_core::AbstractRecovery.

initialize()

virtual void mbf_costmap_core::CostmapRecovery::initialize ( std::string  name, TF *  tf, costmap_2d::Costmap2DROS *  global_costmap, costmap_2d::Costmap2DROS *  local_costmap  )

pure virtual

Initialization function for the CostmapRecovery.

Parameters

tf	A pointer to a transform listener
global_costmap	A pointer to the global_costmap used by the navigation stack
local_costmap	A pointer to the local_costmap used by the navigation stack

runBehavior()

virtual uint32_t mbf_costmap_core::CostmapRecovery::runBehavior ( std::string &  message )

pure virtual

Runs the CostmapRecovery.

Parameters

message

The recovery behavior could set, the message should correspond to the return value

Returns

An outcome which will be hand over to the action result.

Implements mbf_abstract_core::AbstractRecovery.

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

• costmap_recovery.h