#include <sbpl_lattice_planner.h>

Inheritance diagram for sbpl_lattice_planner::SBPLLatticePlanner:

Public Member Functions
virtual void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the SBPLLatticePlanner object. More...

virtual bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Given a goal pose in the world, compute a plan. More...

	SBPLLatticePlanner ()
	Default constructor for the NavFnROS object. More...

	SBPLLatticePlanner (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Constructor for the SBPLLatticePlanner object. More...

virtual	~SBPLLatticePlanner ()

Public Member Functions inherited from nav_core::BaseGlobalPlanner
virtual bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan, double &cost)

virtual	~BaseGlobalPlanner ()

Private Member Functions
unsigned char	computeCircumscribedCost ()

unsigned char	costMapCostToSBPLCost (unsigned char newcost)

void	getFootprintList (const std::vector< EnvNAVXYTHETALAT3Dpt_t > &sbpl_path, const std::string &path_frame_id, visualization_msgs::Marker &ma)

void	publishStats (int solution_cost, int solution_size, const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal)

Static Private Member Functions
static void	transformFootprintToEdges (const geometry_msgs::Pose &robot_pose, const std::vector< geometry_msgs::Point > &footprint, std::vector< geometry_msgs::Point > &out_footprint)

Private Attributes
double	allocated_time_

bool	allow_unknown_

unsigned char	circumscribed_cost_

std::string	cost_map_topic_

costmap_2d::Costmap2DROS *	costmap_ros_

unsigned int	current_env_height_

unsigned int	current_env_width_

EnvironmentNAVXYTHETALAT *	env_

std::string	environment_type_

std::vector< geometry_msgs::Point >	footprint_

int	force_scratch_limit_

bool	forward_search_

double	initial_epsilon_

bool	initialized_

unsigned char	inscribed_inflated_obstacle_

unsigned char	lethal_obstacle_

std::string	name_

ros::Publisher	plan_pub_

SBPLPlanner *	planner_

std::string	planner_type_

std::string	primitive_filename_

bool	publish_footprint_path_

unsigned char	sbpl_cost_multiplier_

ros::Publisher	sbpl_plan_footprint_pub_

ros::Publisher	stats_publisher_

int	visualizer_skip_poses_

Additional Inherited Members
Protected Member Functions inherited from nav_core::BaseGlobalPlanner
	BaseGlobalPlanner ()

Detailed Description

Definition at line 25 of file sbpl_lattice_planner.h.

Constructor & Destructor Documentation

◆ SBPLLatticePlanner() [1/2]

sbpl_lattice_planner::SBPLLatticePlanner::SBPLLatticePlanner ( )

Default constructor for the NavFnROS object.

Definition at line 88 of file sbpl_lattice_planner.cpp.

◆ SBPLLatticePlanner() [2/2]

sbpl_lattice_planner::SBPLLatticePlanner::SBPLLatticePlanner	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructor for the SBPLLatticePlanner object.

Parameters

name	The name of this planner
costmap_ros	A pointer to the ROS wrapper of the costmap to use

Definition at line 92 of file sbpl_lattice_planner.cpp.

◆ ~SBPLLatticePlanner()

virtual sbpl_lattice_planner::SBPLLatticePlanner::~SBPLLatticePlanner ( )

inlinevirtual

Definition at line 61 of file sbpl_lattice_planner.h.

Member Function Documentation

◆ computeCircumscribedCost()

unsigned char sbpl_lattice_planner::SBPLLatticePlanner::computeCircumscribedCost ( )

private

Definition at line 260 of file sbpl_lattice_planner.cpp.

◆ costMapCostToSBPLCost()

unsigned char sbpl_lattice_planner::SBPLLatticePlanner::costMapCostToSBPLCost ( unsigned char newcost )

private

Definition at line 223 of file sbpl_lattice_planner.cpp.

◆ getFootprintList()

void sbpl_lattice_planner::SBPLLatticePlanner::getFootprintList	(	const std::vector< EnvNAVXYTHETALAT3Dpt_t > &	sbpl_path,
		const std::string &	path_frame_id,
		visualization_msgs::Marker &	ma
	)

private

Definition at line 478 of file sbpl_lattice_planner.cpp.

◆ initialize()

void sbpl_lattice_planner::SBPLLatticePlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

virtual

Initialization function for the SBPLLatticePlanner object.

Parameters

name	The name of this planner
costmap_ros	A pointer to the ROS wrapper of the costmap to use

Implements nav_core::BaseGlobalPlanner.

Definition at line 98 of file sbpl_lattice_planner.cpp.

◆ makePlan()

bool sbpl_lattice_planner::SBPLLatticePlanner::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

virtual

Given a goal pose in the world, compute a plan.

Parameters

start	The start pose
goal	The goal pose
plan	The plan... filled by the planner

Returns: True if a valid plan was found, false otherwise

Implements nav_core::BaseGlobalPlanner.

Definition at line 280 of file sbpl_lattice_planner.cpp.

◆ publishStats()

void sbpl_lattice_planner::SBPLLatticePlanner::publishStats	(	int	solution_cost,
		int	solution_size,
		const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal
	)

private

Definition at line 238 of file sbpl_lattice_planner.cpp.

◆ transformFootprintToEdges()

void sbpl_lattice_planner::SBPLLatticePlanner::transformFootprintToEdges	(	const geometry_msgs::Pose &	robot_pose,
		const std::vector< geometry_msgs::Point > &	footprint,
		std::vector< geometry_msgs::Point > &	out_footprint
	)

staticprivate

Definition at line 513 of file sbpl_lattice_planner.cpp.

Member Data Documentation

◆ allocated_time_

double sbpl_lattice_planner::SBPLLatticePlanner::allocated_time_

private

amount of time allowed for search

Definition at line 85 of file sbpl_lattice_planner.h.

◆ allow_unknown_

bool sbpl_lattice_planner::SBPLLatticePlanner::allow_unknown_

private

Definition at line 103 of file sbpl_lattice_planner.h.

◆ circumscribed_cost_

unsigned char sbpl_lattice_planner::SBPLLatticePlanner::circumscribed_cost_

private

Definition at line 97 of file sbpl_lattice_planner.h.

◆ cost_map_topic_

std::string sbpl_lattice_planner::SBPLLatticePlanner::cost_map_topic_

private

what type of environment in which to plan. choices are 2D and XYThetaLattice.

Definition at line 89 of file sbpl_lattice_planner.h.

◆ costmap_ros_

costmap_2d::Costmap2DROS* sbpl_lattice_planner::SBPLLatticePlanner::costmap_ros_

private

manages the cost map for us

Definition at line 106 of file sbpl_lattice_planner.h.

◆ current_env_height_

unsigned int sbpl_lattice_planner::SBPLLatticePlanner::current_env_height_

private

Definition at line 109 of file sbpl_lattice_planner.h.

◆ current_env_width_

unsigned int sbpl_lattice_planner::SBPLLatticePlanner::current_env_width_

private

Definition at line 108 of file sbpl_lattice_planner.h.

◆ env_

EnvironmentNAVXYTHETALAT* sbpl_lattice_planner::SBPLLatticePlanner::env_

private

Definition at line 81 of file sbpl_lattice_planner.h.

◆ environment_type_

std::string sbpl_lattice_planner::SBPLLatticePlanner::environment_type_

private

Definition at line 88 of file sbpl_lattice_planner.h.

◆ footprint_

std::vector<geometry_msgs::Point> sbpl_lattice_planner::SBPLLatticePlanner::footprint_

private

Definition at line 107 of file sbpl_lattice_planner.h.

◆ force_scratch_limit_

int sbpl_lattice_planner::SBPLLatticePlanner::force_scratch_limit_

private

where to find the motion primitives for the current robot

Definition at line 93 of file sbpl_lattice_planner.h.

◆ forward_search_

bool sbpl_lattice_planner::SBPLLatticePlanner::forward_search_

private

what topic is being used for the costmap topic

Definition at line 91 of file sbpl_lattice_planner.h.

◆ initial_epsilon_

double sbpl_lattice_planner::SBPLLatticePlanner::initial_epsilon_

private

initial epsilon for beginning the anytime search

Definition at line 86 of file sbpl_lattice_planner.h.

◆ initialized_

bool sbpl_lattice_planner::SBPLLatticePlanner::initialized_

private

Definition at line 78 of file sbpl_lattice_planner.h.

◆ inscribed_inflated_obstacle_

unsigned char sbpl_lattice_planner::SBPLLatticePlanner::inscribed_inflated_obstacle_

private

Definition at line 96 of file sbpl_lattice_planner.h.

◆ lethal_obstacle_

unsigned char sbpl_lattice_planner::SBPLLatticePlanner::lethal_obstacle_

private

the number of cells that have to be changed in the costmap to force the planner to plan from scratch even if its an incremental planner

Definition at line 95 of file sbpl_lattice_planner.h.

◆ name_

std::string sbpl_lattice_planner::SBPLLatticePlanner::name_

private

Definition at line 105 of file sbpl_lattice_planner.h.

◆ plan_pub_

ros::Publisher sbpl_lattice_planner::SBPLLatticePlanner::plan_pub_

private

Definition at line 111 of file sbpl_lattice_planner.h.

◆ planner_

SBPLPlanner* sbpl_lattice_planner::SBPLLatticePlanner::planner_

private

Definition at line 80 of file sbpl_lattice_planner.h.

◆ planner_type_

std::string sbpl_lattice_planner::SBPLLatticePlanner::planner_type_

private

sbpl method to use for planning. choices are ARAPlanner and ADPlanner

Definition at line 83 of file sbpl_lattice_planner.h.

◆ primitive_filename_

std::string sbpl_lattice_planner::SBPLLatticePlanner::primitive_filename_

private

whether to use forward or backward search

Definition at line 92 of file sbpl_lattice_planner.h.

◆ publish_footprint_path_

bool sbpl_lattice_planner::SBPLLatticePlanner::publish_footprint_path_

private

Definition at line 100 of file sbpl_lattice_planner.h.

◆ sbpl_cost_multiplier_

unsigned char sbpl_lattice_planner::SBPLLatticePlanner::sbpl_cost_multiplier_

private

Definition at line 98 of file sbpl_lattice_planner.h.

◆ sbpl_plan_footprint_pub_

ros::Publisher sbpl_lattice_planner::SBPLLatticePlanner::sbpl_plan_footprint_pub_

private

Definition at line 113 of file sbpl_lattice_planner.h.

◆ stats_publisher_

ros::Publisher sbpl_lattice_planner::SBPLLatticePlanner::stats_publisher_

private

Definition at line 112 of file sbpl_lattice_planner.h.

◆ visualizer_skip_poses_

int sbpl_lattice_planner::SBPLLatticePlanner::visualizer_skip_poses_

private

Definition at line 101 of file sbpl_lattice_planner.h.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SBPLLatticePlanner() [1/2]

◆ SBPLLatticePlanner() [2/2]

◆ ~SBPLLatticePlanner()

Member Function Documentation

◆ computeCircumscribedCost()

◆ costMapCostToSBPLCost()

◆ getFootprintList()

◆ initialize()

◆ makePlan()

◆ publishStats()

◆ transformFootprintToEdges()

Member Data Documentation

◆ allocated_time_

◆ allow_unknown_

◆ circumscribed_cost_

◆ cost_map_topic_

◆ costmap_ros_

◆ current_env_height_

◆ current_env_width_

◆ env_

◆ environment_type_

◆ footprint_

◆ force_scratch_limit_

◆ forward_search_

◆ initial_epsilon_

◆ initialized_

◆ inscribed_inflated_obstacle_

◆ lethal_obstacle_

◆ name_

◆ plan_pub_

◆ planner_

◆ planner_type_

◆ primitive_filename_

◆ publish_footprint_path_

◆ sbpl_cost_multiplier_

◆ sbpl_plan_footprint_pub_

◆ stats_publisher_

◆ visualizer_skip_poses_