Plugin interface for using the potential to trace a path from the start position back to the goal position. More...

#include <traceback.h>

Public Member Functions
virtual nav_2d_msgs::Path2D	getPath (const PotentialGrid &potential_grid, const geometry_msgs::Pose2D &start, const geometry_msgs::Pose2D &goal, double &path_cost)=0
	Create the path from start to goal. More...

virtual void	initialize (ros::NodeHandle &private_nh, CostInterpreter::Ptr cost_interpreter)
	Initialize function. More...

	Traceback ()

virtual	~Traceback ()=default

Protected Member Functions
nav_2d_msgs::Path2D	mapPathToWorldPath (const nav_2d_msgs::Path2D &original, const nav_grid::NavGridInfo &info)
	Helper function to convert a path in Grid coordinates to World coordinates. More...

Protected Attributes
CostInterpreter::Ptr	cost_interpreter_

Detailed Description

Plugin interface for using the potential to trace a path from the start position back to the goal position.

See README for more details

Definition at line 52 of file traceback.h.

Constructor & Destructor Documentation

◆ Traceback()

dlux_global_planner::Traceback::Traceback ( )

inline

Definition at line 55 of file traceback.h.

◆ ~Traceback()

virtual dlux_global_planner::Traceback::~Traceback ( )

virtualdefault

Member Function Documentation

◆ getPath()

virtual nav_2d_msgs::Path2D dlux_global_planner::Traceback::getPath	(	const PotentialGrid &	potential_grid,
		const geometry_msgs::Pose2D &	start,
		const geometry_msgs::Pose2D &	goal,
		double &	path_cost
	)

pure virtual

Create the path from start to goal.

Parameters

potential_grid[in]	potential grid
start[in]	start pose
goal[in]	goal pose
path_cost[out]	A number representing the cost of taking this path. Open to intepretation.

Returns: The path, in the same frame as the PotentialGrid

◆ initialize()

virtual void dlux_global_planner::Traceback::initialize	(	ros::NodeHandle &	private_nh,
		CostInterpreter::Ptr	cost_interpreter
	)

inlinevirtual

Initialize function.

Can be overridden to grab parameters

Parameters

private_nh	NodeHandle to read parameters from
cost_interpreter	CostInterpreter pointer

Definition at line 66 of file traceback.h.

◆ mapPathToWorldPath()

nav_2d_msgs::Path2D dlux_global_planner::Traceback::mapPathToWorldPath	(	const nav_2d_msgs::Path2D &	original,
		const nav_grid::NavGridInfo &	info
	)

inlineprotected

Helper function to convert a path in Grid coordinates to World coordinates.

Does not use nav_grid::gridToWorld because that takes integer inputs, whereas the input path can be located anywhere within the grid cell.

Definition at line 88 of file traceback.h.

Member Data Documentation

◆ cost_interpreter_

CostInterpreter::Ptr dlux_global_planner::Traceback::cost_interpreter_

protected

Definition at line 100 of file traceback.h.

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

traceback.h

Public Member Functions

Protected Member Functions

Protected Attributes