A class implementing a local planner using the Dynamic Window Approach. More...

#include <dwa_planner.h>

Public Member Functions
bool	checkTrajectory (const Eigen::Vector3f pos, const Eigen::Vector3f vel, const Eigen::Vector3f vel_samples)
	Check if a trajectory is legal for a position/velocity pair. More...

	DWAPlanner (std::string name, base_local_planner::LocalPlannerUtil *planner_util)
	Constructor for the planner. More...

base_local_planner::Trajectory	findBestPath (const geometry_msgs::PoseStamped &global_pose, const geometry_msgs::PoseStamped &global_vel, geometry_msgs::PoseStamped &drive_velocities)
	Given the current position and velocity of the robot, find the best trajectory to exectue. More...

bool	getCellCosts (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)
	Compute the components and total cost for a map grid cell. More...

double	getSimPeriod ()
	Get the period at which the local planner is expected to run. More...

void	reconfigure (DWAPlannerConfig &cfg)
	Reconfigures the trajectory planner. More...

bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)

void	updatePlanAndLocalCosts (const geometry_msgs::PoseStamped &global_pose, const std::vector< geometry_msgs::PoseStamped > &new_plan, const std::vector< geometry_msgs::Point > &footprint_spec)
	Update the cost functions before planning. More...

Private Attributes
base_local_planner::MapGridCostFunction	alignment_costs_

double	cheat_factor_

boost::mutex	configuration_mutex_

double	forward_point_distance_

std::string	frame_id_

base_local_planner::SimpleTrajectoryGenerator	generator_

std::vector< geometry_msgs::PoseStamped >	global_plan_

base_local_planner::MapGridCostFunction	goal_costs_

double	goal_distance_bias_

base_local_planner::MapGridCostFunction	goal_front_costs_

base_local_planner::MapGridVisualizer	map_viz_
	The map grid visualizer for outputting the potential field generated by the cost function. More...

base_local_planner::ObstacleCostFunction	obstacle_costs_

double	occdist_scale_

base_local_planner::OscillationCostFunction	oscillation_costs_

base_local_planner::MapGridCostFunction	path_costs_

double	path_distance_bias_

base_local_planner::LocalPlannerUtil *	planner_util_

bool	publish_cost_grid_pc_
	Whether or not to build and publish a PointCloud. More...

bool	publish_traj_pc_

base_local_planner::Trajectory	result_traj_

base_local_planner::SimpleScoredSamplingPlanner	scored_sampling_planner_

double	sim_period_
	The number of seconds to use to compute max/min vels for dwa. More...

double	stop_time_buffer_
	How long before hitting something we're going to enforce that the robot stop. More...

ros::Publisher	traj_cloud_pub_

base_local_planner::TwirlingCostFunction	twirling_costs_

Eigen::Vector3f	vsamples_

Detailed Description

A class implementing a local planner using the Dynamic Window Approach.

Definition at line 105 of file dwa_planner.h.

Constructor & Destructor Documentation

◆ DWAPlanner()

dwa_local_planner::DWAPlanner::DWAPlanner	(	std::string	name,
		base_local_planner::LocalPlannerUtil *	planner_util
	)

Constructor for the planner.

Parameters

name	The name of the planner
costmap_ros	A pointer to the costmap instance the planner should use
global_frame	the frame id of the tf frame to use

Definition at line 153 of file dwa_planner.cpp.

Member Function Documentation

◆ checkTrajectory()

bool dwa_local_planner::DWAPlanner::checkTrajectory	(	const Eigen::Vector3f	pos,
		const Eigen::Vector3f	vel,
		const Eigen::Vector3f	vel_samples
	)

Check if a trajectory is legal for a position/velocity pair.

Parameters

pos	The robot's position
vel	The robot's velocity
vel_samples	The desired velocity

Returns: True if the trajectory is valid, false otherwise

This function is used when other strategies are to be applied, but the cost functions for obstacles are to be reused.

Definition at line 251 of file dwa_planner.cpp.

◆ findBestPath()

base_local_planner::Trajectory dwa_local_planner::DWAPlanner::findBestPath	(	const geometry_msgs::PoseStamped &	global_pose,
		const geometry_msgs::PoseStamped &	global_vel,
		geometry_msgs::PoseStamped &	drive_velocities
	)

Given the current position and velocity of the robot, find the best trajectory to exectue.

Parameters

global_pose	The current position of the robot
global_vel	The current velocity of the robot
drive_velocities	The velocities to send to the robot base

Returns: The highest scoring trajectory. A cost >= 0 means the trajectory is legal to execute.

Definition at line 332 of file dwa_planner.cpp.

◆ getCellCosts()

bool dwa_local_planner::DWAPlanner::getCellCosts	(	int	cx,
		int	cy,
		float &	path_cost,
		float &	goal_cost,
		float &	occ_cost,
		float &	total_cost
	)

Compute the components and total cost for a map grid cell.

Parameters

cx	The x coordinate of the cell in the map grid
cy	The y coordinate of the cell in the map grid
path_cost	Will be set to the path distance component of the cost function
goal_cost	Will be set to the goal distance component of the cost function
occ_cost	Will be set to the costmap value of the cell
total_cost	Will be set to the value of the overall cost function, taking into account the scaling parameters

Returns: True if the cell is traversible and therefore a legal location for the robot to move to

Definition at line 224 of file dwa_planner.cpp.

◆ getSimPeriod()

double dwa_local_planner::DWAPlanner::getSimPeriod ( )

inline

Get the period at which the local planner is expected to run.

Returns: The simulation period

Definition at line 163 of file dwa_planner.h.

◆ reconfigure()

void dwa_local_planner::DWAPlanner::reconfigure ( DWAPlannerConfig & cfg )

Reconfigures the trajectory planner.

Definition at line 87 of file dwa_planner.cpp.

◆ setPlan()

bool dwa_local_planner::DWAPlanner::setPlan ( const std::vector< geometry_msgs::PoseStamped > & orig_global_plan )

sets new plan and resets state

Definition at line 242 of file dwa_planner.cpp.

◆ updatePlanAndLocalCosts()

void dwa_local_planner::DWAPlanner::updatePlanAndLocalCosts	(	const geometry_msgs::PoseStamped &	global_pose,
		const std::vector< geometry_msgs::PoseStamped > &	new_plan,
		const std::vector< geometry_msgs::Point > &	footprint_spec
	)

Update the cost functions before planning.

Parameters

global_pose	The robot's current pose
new_plan	The new global plan
footprint_spec	The robot's footprint

The obstacle cost function gets the footprint. The path and goal cost functions get the global_plan The alignment cost functions get a version of the global plan that is modified based on the global_pose

Definition at line 278 of file dwa_planner.cpp.

Member Data Documentation

◆ alignment_costs_

base_local_planner::MapGridCostFunction dwa_local_planner::DWAPlanner::alignment_costs_

private

Definition at line 214 of file dwa_planner.h.

◆ cheat_factor_

double dwa_local_planner::DWAPlanner::cheat_factor_

private

Definition at line 203 of file dwa_planner.h.

◆ configuration_mutex_

boost::mutex dwa_local_planner::DWAPlanner::configuration_mutex_

private

Definition at line 197 of file dwa_planner.h.

◆ forward_point_distance_

double dwa_local_planner::DWAPlanner::forward_point_distance_

private

Definition at line 193 of file dwa_planner.h.

◆ frame_id_

std::string dwa_local_planner::DWAPlanner::frame_id_

private

Definition at line 198 of file dwa_planner.h.

◆ generator_

base_local_planner::SimpleTrajectoryGenerator dwa_local_planner::DWAPlanner::generator_

private

Definition at line 208 of file dwa_planner.h.

◆ global_plan_

std::vector<geometry_msgs::PoseStamped> dwa_local_planner::DWAPlanner::global_plan_

private

Definition at line 195 of file dwa_planner.h.

◆ goal_costs_

base_local_planner::MapGridCostFunction dwa_local_planner::DWAPlanner::goal_costs_

private

Definition at line 212 of file dwa_planner.h.

◆ goal_distance_bias_

double dwa_local_planner::DWAPlanner::goal_distance_bias_

private

Definition at line 187 of file dwa_planner.h.

◆ goal_front_costs_

base_local_planner::MapGridCostFunction dwa_local_planner::DWAPlanner::goal_front_costs_

private

Definition at line 213 of file dwa_planner.h.

◆ map_viz_

base_local_planner::MapGridVisualizer dwa_local_planner::DWAPlanner::map_viz_

private

The map grid visualizer for outputting the potential field generated by the cost function.

Definition at line 205 of file dwa_planner.h.

◆ obstacle_costs_

base_local_planner::ObstacleCostFunction dwa_local_planner::DWAPlanner::obstacle_costs_

private

Definition at line 210 of file dwa_planner.h.

◆ occdist_scale_

double dwa_local_planner::DWAPlanner::occdist_scale_

private

Definition at line 187 of file dwa_planner.h.

◆ oscillation_costs_

base_local_planner::OscillationCostFunction dwa_local_planner::DWAPlanner::oscillation_costs_

private

Definition at line 209 of file dwa_planner.h.

◆ path_costs_

base_local_planner::MapGridCostFunction dwa_local_planner::DWAPlanner::path_costs_

private

Definition at line 211 of file dwa_planner.h.

◆ path_distance_bias_

double dwa_local_planner::DWAPlanner::path_distance_bias_

private

Definition at line 187 of file dwa_planner.h.

◆ planner_util_

base_local_planner::LocalPlannerUtil* dwa_local_planner::DWAPlanner::planner_util_

private

Definition at line 184 of file dwa_planner.h.

◆ publish_cost_grid_pc_

bool dwa_local_planner::DWAPlanner::publish_cost_grid_pc_

private

Whether or not to build and publish a PointCloud.

Definition at line 200 of file dwa_planner.h.

◆ publish_traj_pc_

bool dwa_local_planner::DWAPlanner::publish_traj_pc_

private

Definition at line 201 of file dwa_planner.h.

◆ result_traj_

base_local_planner::Trajectory dwa_local_planner::DWAPlanner::result_traj_

private

Definition at line 191 of file dwa_planner.h.

◆ scored_sampling_planner_

base_local_planner::SimpleScoredSamplingPlanner dwa_local_planner::DWAPlanner::scored_sampling_planner_

private

Definition at line 217 of file dwa_planner.h.

◆ sim_period_

double dwa_local_planner::DWAPlanner::sim_period_

private

The number of seconds to use to compute max/min vels for dwa.

Definition at line 190 of file dwa_planner.h.

◆ stop_time_buffer_

double dwa_local_planner::DWAPlanner::stop_time_buffer_

private

How long before hitting something we're going to enforce that the robot stop.

Definition at line 186 of file dwa_planner.h.

◆ traj_cloud_pub_

ros::Publisher dwa_local_planner::DWAPlanner::traj_cloud_pub_

private

Definition at line 199 of file dwa_planner.h.

◆ twirling_costs_

base_local_planner::TwirlingCostFunction dwa_local_planner::DWAPlanner::twirling_costs_

private

Definition at line 215 of file dwa_planner.h.

◆ vsamples_

Eigen::Vector3f dwa_local_planner::DWAPlanner::vsamples_

private

Definition at line 188 of file dwa_planner.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DWAPlanner()

Member Function Documentation

◆ checkTrajectory()

◆ findBestPath()

◆ getCellCosts()

◆ getSimPeriod()

◆ reconfigure()

◆ setPlan()

◆ updatePlanAndLocalCosts()

Member Data Documentation

◆ alignment_costs_

◆ cheat_factor_

◆ configuration_mutex_

◆ forward_point_distance_

◆ frame_id_

◆ generator_

◆ global_plan_

◆ goal_costs_

◆ goal_distance_bias_

◆ goal_front_costs_

◆ map_viz_

◆ obstacle_costs_

◆ occdist_scale_

◆ oscillation_costs_

◆ path_costs_

◆ path_distance_bias_

◆ planner_util_

◆ publish_cost_grid_pc_

◆ publish_traj_pc_

◆ result_traj_

◆ scored_sampling_planner_

◆ sim_period_

◆ stop_time_buffer_

◆ traj_cloud_pub_

◆ twirling_costs_

◆ vsamples_