#include <dijkstra_mesh_planner.h>

Inheritance diagram for dijkstra_mesh_planner::DijkstraMeshPlanner:

Public Types
typedef boost::shared_ptr< dijkstra_mesh_planner::DijkstraMeshPlanner >	Ptr

Public Types inherited from mbf_mesh_core::MeshPlanner
typedef boost::shared_ptr< mbf_mesh_core::MeshPlanner >	Ptr

Public Types inherited from mbf_abstract_core::AbstractPlanner
typedef boost::shared_ptr< ::mbf_abstract_core::AbstractPlanner >	Ptr

Public Member Functions
virtual bool	cancel ()
	Requests the planner to cancel, e.g. if it takes too much time. More...

	DijkstraMeshPlanner ()

lvr2::DenseVertexMap< mesh_map::Vector >	getVectorMap ()
	delivers vector field which has been generated during the latest planning More...

virtual bool	initialize (const std::string &name, const boost::shared_ptr< mesh_map::MeshMap > &mesh_map_ptr)
	initializes this planner with the given plugin name and map More...

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

virtual	~DijkstraMeshPlanner ()
	Destructor. More...

Public Member Functions inherited from mbf_mesh_core::MeshPlanner
virtual	~MeshPlanner ()

Public Member Functions inherited from mbf_abstract_core::AbstractPlanner
virtual	~AbstractPlanner ()

Protected Member Functions
void	computeVectorMap ()
	calculates the vector field based on the current predecessors map and stores it to the vector_map field of this class More...

uint32_t	dijkstra (const mesh_map::Vector &start, const mesh_map::Vector &goal, const lvr2::DenseEdgeMap< float > &edge_weights, const lvr2::DenseVertexMap< float > &costs, std::list< lvr2::VertexHandle > &path, lvr2::DenseVertexMap< float > &distances, lvr2::DenseVertexMap< lvr2::VertexHandle > &predecessors)
	runs dijkstra path planning More...

uint32_t	dijkstra (const mesh_map::Vector &start, const mesh_map::Vector &goal, std::list< lvr2::VertexHandle > &path)
	runs dijkstra path planning and stores the resulting distances and predecessors to the fields potential and predecessors of this class More...

void	reconfigureCallback (dijkstra_mesh_planner::DijkstraMeshPlannerConfig &cfg, uint32_t level)
	gets called on new incoming reconfigure parameters More...

Protected Member Functions inherited from mbf_mesh_core::MeshPlanner
	MeshPlanner ()

Protected Member Functions inherited from mbf_abstract_core::AbstractPlanner
	AbstractPlanner ()

Private Attributes
std::atomic_bool	cancel_planning

DijkstraMeshPlannerConfig	config

dynamic_reconfigure::Server< dijkstra_mesh_planner::DijkstraMeshPlannerConfig >::CallbackType	config_callback

lvr2::DenseVertexMap< lvr2::FaceHandle >	cutting_faces

bool	first_config

float	goal_dist_offset

std::string	map_frame

mesh_map::MeshMap::Ptr	mesh_map

std::string	name

ros::Publisher	path_pub

lvr2::DenseVertexMap< float >	potential

lvr2::DenseVertexMap< lvr2::VertexHandle >	predecessors

ros::NodeHandle	private_nh

bool	publish_face_vectors

bool	publish_vector_field

boost::shared_ptr< dynamic_reconfigure::Server< dijkstra_mesh_planner::DijkstraMeshPlannerConfig > >	reconfigure_server_ptr

lvr2::DenseVertexMap< mesh_map::Vector >	vector_map

Detailed Description

Definition at line 49 of file dijkstra_mesh_planner.h.

Member Typedef Documentation

◆ Ptr

typedef boost::shared_ptr<dijkstra_mesh_planner::DijkstraMeshPlanner> dijkstra_mesh_planner::DijkstraMeshPlanner::Ptr

Definition at line 52 of file dijkstra_mesh_planner.h.

Constructor & Destructor Documentation

◆ DijkstraMeshPlanner()

dijkstra_mesh_planner::DijkstraMeshPlanner::DijkstraMeshPlanner ( )

Definition at line 48 of file dijkstra_mesh_planner.cpp.

◆ ~DijkstraMeshPlanner()

dijkstra_mesh_planner::DijkstraMeshPlanner::~DijkstraMeshPlanner ( )

virtual

Destructor.

Definition at line 52 of file dijkstra_mesh_planner.cpp.

Member Function Documentation

◆ cancel()

bool dijkstra_mesh_planner::DijkstraMeshPlanner::cancel ( )

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_mesh_core::MeshPlanner.

Definition at line 123 of file dijkstra_mesh_planner.cpp.

◆ computeVectorMap()

void dijkstra_mesh_planner::DijkstraMeshPlanner::computeVectorMap ( )

protected

calculates the vector field based on the current predecessors map and stores it to the vector_map field of this class

Definition at line 171 of file dijkstra_mesh_planner.cpp.

◆ dijkstra() [1/2]

uint32_t dijkstra_mesh_planner::DijkstraMeshPlanner::dijkstra	(	const mesh_map::Vector &	start,
		const mesh_map::Vector &	goal,
		const lvr2::DenseEdgeMap< float > &	edge_weights,
		const lvr2::DenseVertexMap< float > &	costs,
		std::list< lvr2::VertexHandle > &	path,
		lvr2::DenseVertexMap< float > &	distances,
		lvr2::DenseVertexMap< lvr2::VertexHandle > &	predecessors
	)

protected

runs dijkstra path planning

Parameters

start[in]	3D starting position of the requested path
goal[in]	3D goal position of the requested path
edge_weights[in]	edge distances of the map
costs[in]	vertex costs of the map
path[out]	optimal path from the given starting position to tie goal position
distances[out]	per vertex distances to goal
predecessors[out]	dense predecessor map for all visited vertices

Returns: result code in form of GetPath action result: SUCCESS, NO_PATH_FOUND, INVALID_START, INVALID_GOAL, and CANCELED are possible

Definition at line 199 of file dijkstra_mesh_planner.cpp.

◆ dijkstra() [2/2]

uint32_t dijkstra_mesh_planner::DijkstraMeshPlanner::dijkstra	(	const mesh_map::Vector &	start,
		const mesh_map::Vector &	goal,
		std::list< lvr2::VertexHandle > &	path
	)

protected

runs dijkstra path planning and stores the resulting distances and predecessors to the fields potential and predecessors of this class

Parameters

start[in]	3D starting position of the requested path
goal[in]	3D goal position of the requested path
path[out]	optimal path from the given starting position to tie goal position

Returns: result code in form of GetPath action result: SUCCESS, NO_PATH_FOUND, INVALID_START, INVALID_GOAL, and CANCELED are possible

Definition at line 193 of file dijkstra_mesh_planner.cpp.

◆ getVectorMap()

lvr2::DenseVertexMap< mesh_map::Vector > dijkstra_mesh_planner::DijkstraMeshPlanner::getVectorMap ( )

delivers vector field which has been generated during the latest planning

Returns: vector field of the plan

Definition at line 154 of file dijkstra_mesh_planner.cpp.

◆ initialize()

bool dijkstra_mesh_planner::DijkstraMeshPlanner::initialize	(	const std::string &	name,
		const boost::shared_ptr< mesh_map::MeshMap > &	mesh_map_ptr
	)

virtual

initializes this planner with the given plugin name and map

Parameters

name	name of this plugin
mesh_map_ptr	environment map on which planning is done

Returns: true if initialization was successul; else false

Implements mbf_mesh_core::MeshPlanner.

Definition at line 129 of file dijkstra_mesh_planner.cpp.

◆ makePlan()

uint32_t dijkstra_mesh_planner::DijkstraMeshPlanner::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance,
		std::vector< geometry_msgs::PoseStamped > &	plan,
		double &	cost,
		std::string &	message
	)

virtual

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

Parameters

start	The start pose
goal	The goal pose
tolerance	If the goal is obstructed, how many meters the planner can relax the constraint in x and y before failing
plan	The plan... filled by the planner
cost	The cost for the the plan
message	Optional more detailed outcome as a string

Returns: Result code as described on GetPath action result: SUCCESS = 0 1..9 are reserved as plugin specific non-error results FAILURE = 50 # Unspecified failure, only used for old, non-mfb_core based plugins CANCELED = 51 INVALID_START = 52 INVALID_GOAL = 53 NO_PATH_FOUND = 54 PAT_EXCEEDED = 55 EMPTY_PATH = 56 TF_ERROR = 57 NOT_INITIALIZED = 58 INVALID_PLUGIN = 59 INTERNAL_ERROR = 60 71..99 are reserved as plugin specific errors

Implements mbf_mesh_core::MeshPlanner.

Definition at line 56 of file dijkstra_mesh_planner.cpp.

◆ reconfigureCallback()

void dijkstra_mesh_planner::DijkstraMeshPlanner::reconfigureCallback	(	dijkstra_mesh_planner::DijkstraMeshPlannerConfig &	cfg,
		uint32_t	level
	)

protected

gets called on new incoming reconfigure parameters

Parameters

cfg	new configuration
level	level

Definition at line 159 of file dijkstra_mesh_planner.cpp.

Member Data Documentation

◆ cancel_planning

std::atomic_bool dijkstra_mesh_planner::DijkstraMeshPlanner::cancel_planning

private

Definition at line 170 of file dijkstra_mesh_planner.h.

◆ config

DijkstraMeshPlannerConfig dijkstra_mesh_planner::DijkstraMeshPlanner::config

private

Definition at line 186 of file dijkstra_mesh_planner.h.

◆ config_callback

dynamic_reconfigure::Server<dijkstra_mesh_planner::DijkstraMeshPlannerConfig>::CallbackType dijkstra_mesh_planner::DijkstraMeshPlanner::config_callback

private

Definition at line 184 of file dijkstra_mesh_planner.h.

◆ cutting_faces

lvr2::DenseVertexMap<lvr2::FaceHandle> dijkstra_mesh_planner::DijkstraMeshPlanner::cutting_faces

private

Definition at line 191 of file dijkstra_mesh_planner.h.

◆ first_config

bool dijkstra_mesh_planner::DijkstraMeshPlanner::first_config

private

Definition at line 185 of file dijkstra_mesh_planner.h.

◆ goal_dist_offset

float dijkstra_mesh_planner::DijkstraMeshPlanner::goal_dist_offset

private

Definition at line 180 of file dijkstra_mesh_planner.h.

◆ map_frame

std::string dijkstra_mesh_planner::DijkstraMeshPlanner::map_frame

private

Definition at line 178 of file dijkstra_mesh_planner.h.

◆ mesh_map

mesh_map::MeshMap::Ptr dijkstra_mesh_planner::DijkstraMeshPlanner::mesh_map

private

Definition at line 164 of file dijkstra_mesh_planner.h.

◆ name

std::string dijkstra_mesh_planner::DijkstraMeshPlanner::name

private

Definition at line 166 of file dijkstra_mesh_planner.h.

◆ path_pub

ros::Publisher dijkstra_mesh_planner::DijkstraMeshPlanner::path_pub

private

Definition at line 172 of file dijkstra_mesh_planner.h.

◆ potential

lvr2::DenseVertexMap<float> dijkstra_mesh_planner::DijkstraMeshPlanner::potential

private

Definition at line 196 of file dijkstra_mesh_planner.h.

◆ predecessors

lvr2::DenseVertexMap<lvr2::VertexHandle> dijkstra_mesh_planner::DijkstraMeshPlanner::predecessors

private

Definition at line 189 of file dijkstra_mesh_planner.h.

◆ private_nh

ros::NodeHandle dijkstra_mesh_planner::DijkstraMeshPlanner::private_nh

private

Definition at line 168 of file dijkstra_mesh_planner.h.

◆ publish_face_vectors

bool dijkstra_mesh_planner::DijkstraMeshPlanner::publish_face_vectors

private

Definition at line 176 of file dijkstra_mesh_planner.h.

◆ publish_vector_field

bool dijkstra_mesh_planner::DijkstraMeshPlanner::publish_vector_field

private

Definition at line 174 of file dijkstra_mesh_planner.h.

◆ reconfigure_server_ptr

boost::shared_ptr<dynamic_reconfigure::Server<dijkstra_mesh_planner::DijkstraMeshPlannerConfig> > dijkstra_mesh_planner::DijkstraMeshPlanner::reconfigure_server_ptr

private

Definition at line 183 of file dijkstra_mesh_planner.h.

◆ vector_map

lvr2::DenseVertexMap<mesh_map::Vector> dijkstra_mesh_planner::DijkstraMeshPlanner::vector_map

private

Definition at line 194 of file dijkstra_mesh_planner.h.

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

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ DijkstraMeshPlanner()

◆ ~DijkstraMeshPlanner()

Member Function Documentation

◆ cancel()

◆ computeVectorMap()

◆ dijkstra() [1/2]

◆ dijkstra() [2/2]

◆ getVectorMap()

◆ initialize()

◆ makePlan()

◆ reconfigureCallback()

Member Data Documentation

◆ cancel_planning

◆ config

◆ config_callback

◆ cutting_faces

◆ first_config

◆ goal_dist_offset

◆ map_frame

◆ mesh_map

◆ name

◆ path_pub

◆ potential

◆ predecessors

◆ private_nh

◆ publish_face_vectors

◆ publish_vector_field

◆ reconfigure_server_ptr

◆ vector_map