#include <planner_core.h>

Inheritance diagram for global_planner::GlobalPlanner:

Public Member Functions
bool	computePotential (const geometry_msgs::Point &world_point)
	Computes the full navigation function for the map given a point in the world to start from. More...

bool	getPlanFromPotential (double start_x, double start_y, double end_x, double end_y, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first) More...

double	getPointPotential (const geometry_msgs::Point &world_point)
	Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first) More...

	GlobalPlanner ()
	Default constructor for the PlannerCore object. More...

	GlobalPlanner (std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)
	Constructor for the PlannerCore object. More...

void	initialize (std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)

void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the PlannerCore object. More...

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

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...

bool	makePlanService (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp)

void	publishPlan (const std::vector< geometry_msgs::PoseStamped > &path)
	Publish a path for visualization purposes. More...

bool	validPointPotential (const geometry_msgs::Point &world_point)
	Check for a valid potential value at a given point in the world (Note: You should call computePotential first) More...

bool	validPointPotential (const geometry_msgs::Point &world_point, double tolerance)
	Check for a valid potential value at a given point in the world (Note: You should call computePotential first) More...

	~GlobalPlanner ()
	Default deconstructor for the PlannerCore object. More...

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 ()

Protected Attributes
bool	allow_unknown_

costmap_2d::Costmap2D *	costmap_
	Store a copy of the current costmap in costmap. Called by makePlan. More...

std::string	frame_id_

bool	initialized_

ros::Publisher	plan_pub_

Private Member Functions
void	clearRobotCell (const geometry_msgs::PoseStamped &global_pose, unsigned int mx, unsigned int my)

void	mapToWorld (double mx, double my, double &wx, double &wy)

void	outlineMap (unsigned char *costarr, int nx, int ny, unsigned char value)

void	publishPotential (float *potential)

void	reconfigureCB (global_planner::GlobalPlannerConfig &config, uint32_t level)

bool	worldToMap (double wx, double wy, double &mx, double &my)

Private Attributes
float	convert_offset_

double	default_tolerance_

dynamic_reconfigure::Server< global_planner::GlobalPlannerConfig > *	dsrv_

unsigned int	end_x_

unsigned int	end_y_

ros::ServiceServer	make_plan_srv_

boost::mutex	mutex_

bool	old_navfn_behavior_

OrientationFilter *	orientation_filter_

bool	outline_map_

PotentialCalculator *	p_calc_

Traceback *	path_maker_

Expander *	planner_

double	planner_window_x_

double	planner_window_y_

float *	potential_array_

ros::Publisher	potential_pub_

bool	publish_potential_

int	publish_scale_

unsigned int	start_x_

unsigned int	start_y_

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

Detailed Description

Definition at line 66 of file planner_core.h.

Constructor & Destructor Documentation

◆ GlobalPlanner() [1/2]

global_planner::GlobalPlanner::GlobalPlanner ( )

Default constructor for the PlannerCore object.

Definition at line 105 of file planner_core.cpp.

◆ GlobalPlanner() [2/2]

global_planner::GlobalPlanner::GlobalPlanner	(	std::string	name,
		costmap_2d::Costmap2D *	costmap,
		std::string	frame_id
	)

Constructor for the PlannerCore object.

Parameters

name	The name of this planner
costmap	A pointer to the costmap to use
frame_id	Frame of the costmap

Definition at line 111 of file planner_core.cpp.

◆ ~GlobalPlanner()

global_planner::GlobalPlanner::~GlobalPlanner ( )

Default deconstructor for the PlannerCore object.

Definition at line 117 of file planner_core.cpp.

Member Function Documentation

◆ clearRobotCell()

void global_planner::GlobalPlanner::clearRobotCell	(	const geometry_msgs::PoseStamped &	global_pose,
		unsigned int	mx,
		unsigned int	my
	)

private

Definition at line 208 of file planner_core.cpp.

◆ computePotential()

bool global_planner::GlobalPlanner::computePotential ( const geometry_msgs::Point & world_point )

Computes the full navigation function for the map given a point in the world to start from.

Parameters

world_point The point to use for seeding the navigation function

Returns: True if the navigation function was computed successfully, false otherwise

◆ getPlanFromPotential()

bool global_planner::GlobalPlanner::getPlanFromPotential	(	double	start_x,
		double	start_y,
		double	end_x,
		double	end_y,
		const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first)

Parameters

start_x
start_y
end_x
end_y
goal	The goal pose to create a plan to
plan	The plan... filled by the planner

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

Definition at line 382 of file planner_core.cpp.

◆ getPointPotential()

double global_planner::GlobalPlanner::getPointPotential ( const geometry_msgs::Point & world_point )

Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first)

Parameters

world_point The point to get the potential for

Returns: The navigation function's value at that point in the world

◆ initialize() [1/2]

void global_planner::GlobalPlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2D *	costmap,
		std::string	frame_id
	)

Definition at line 132 of file planner_core.cpp.

◆ initialize() [2/2]

void global_planner::GlobalPlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

virtual

Initialization function for the PlannerCore object.

Parameters

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

Implements nav_core::BaseGlobalPlanner.

Definition at line 128 of file planner_core.cpp.

◆ makePlan() [1/2]

bool global_planner::GlobalPlanner::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

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

Parameters

start	The start pose
goal	The goal pose
tolerance	The tolerance on the goal point for the planner
plan	The plan... filled by the planner

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

Definition at line 254 of file planner_core.cpp.

◆ makePlan() [2/2]

bool global_planner::GlobalPlanner::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 249 of file planner_core.cpp.

◆ makePlanService()

bool global_planner::GlobalPlanner::makePlanService	(	nav_msgs::GetPlan::Request &	req,
		nav_msgs::GetPlan::Response &	resp
	)

Definition at line 219 of file planner_core.cpp.

◆ mapToWorld()

void global_planner::GlobalPlanner::mapToWorld	(	double	mx,
		double	my,
		double &	wx,
		double &	wy
	)

private

Definition at line 228 of file planner_core.cpp.

◆ outlineMap()

void global_planner::GlobalPlanner::outlineMap	(	unsigned char *	costarr,
		int	nx,
		int	ny,
		unsigned char	value
	)

private

Definition at line 90 of file planner_core.cpp.

◆ publishPlan()

void global_planner::GlobalPlanner::publishPlan ( const std::vector< geometry_msgs::PoseStamped > & path )

Publish a path for visualization purposes.

Definition at line 360 of file planner_core.cpp.

◆ publishPotential()

void global_planner::GlobalPlanner::publishPotential ( float * potential )

private

Definition at line 428 of file planner_core.cpp.

◆ reconfigureCB()

void global_planner::GlobalPlanner::reconfigureCB	(	global_planner::GlobalPlannerConfig &	config,
		uint32_t	level
	)

private

Definition at line 198 of file planner_core.cpp.

◆ validPointPotential() [1/2]

bool global_planner::GlobalPlanner::validPointPotential ( const geometry_msgs::Point & world_point )

Check for a valid potential value at a given point in the world (Note: You should call computePotential first)

Parameters

world_point The point to get the potential for

Returns: True if the navigation function is valid at that point in the world, false otherwise

◆ validPointPotential() [2/2]

bool global_planner::GlobalPlanner::validPointPotential	(	const geometry_msgs::Point &	world_point,
		double	tolerance
	)

Check for a valid potential value at a given point in the world (Note: You should call computePotential first)

Parameters

world_point	The point to get the potential for
tolerance	The tolerance on searching around the world_point specified

Returns: True if the navigation function is valid at that point in the world, false otherwise

◆ worldToMap()

bool global_planner::GlobalPlanner::worldToMap	(	double	wx,
		double	wy,
		double &	mx,
		double &	my
	)

private

Definition at line 233 of file planner_core.cpp.

Member Data Documentation

◆ allow_unknown_

bool global_planner::GlobalPlanner::allow_unknown_

protected

Definition at line 174 of file planner_core.h.

◆ convert_offset_

float global_planner::GlobalPlanner::convert_offset_

private

Definition at line 201 of file planner_core.h.

◆ costmap_

costmap_2d::Costmap2D* global_planner::GlobalPlanner::costmap_

protected

Store a copy of the current costmap in costmap. Called by makePlan.

Definition at line 171 of file planner_core.h.

◆ default_tolerance_

double global_planner::GlobalPlanner::default_tolerance_

private

Definition at line 182 of file planner_core.h.

◆ dsrv_

dynamic_reconfigure::Server<global_planner::GlobalPlannerConfig>* global_planner::GlobalPlanner::dsrv_

private

Definition at line 205 of file planner_core.h.

◆ end_x_

unsigned int global_planner::GlobalPlanner::end_x_

private

Definition at line 198 of file planner_core.h.

◆ end_y_

unsigned int global_planner::GlobalPlanner::end_y_

private

Definition at line 198 of file planner_core.h.

◆ frame_id_

std::string global_planner::GlobalPlanner::frame_id_

protected

Definition at line 172 of file planner_core.h.

◆ initialized_

bool global_planner::GlobalPlanner::initialized_

protected

Definition at line 174 of file planner_core.h.

◆ make_plan_srv_

ros::ServiceServer global_planner::GlobalPlanner::make_plan_srv_

private

Definition at line 184 of file planner_core.h.

◆ mutex_

boost::mutex global_planner::GlobalPlanner::mutex_

private

Definition at line 183 of file planner_core.h.

◆ old_navfn_behavior_

bool global_planner::GlobalPlanner::old_navfn_behavior_

private

Definition at line 200 of file planner_core.h.

◆ orientation_filter_

OrientationFilter* global_planner::GlobalPlanner::orientation_filter_

private

Definition at line 189 of file planner_core.h.

◆ outline_map_

bool global_planner::GlobalPlanner::outline_map_

private

Definition at line 203 of file planner_core.h.

◆ p_calc_

PotentialCalculator* global_planner::GlobalPlanner::p_calc_

private

Definition at line 186 of file planner_core.h.

◆ path_maker_

Traceback* global_planner::GlobalPlanner::path_maker_

private

Definition at line 188 of file planner_core.h.

◆ plan_pub_

ros::Publisher global_planner::GlobalPlanner::plan_pub_

protected

Definition at line 173 of file planner_core.h.

◆ planner_

Expander* global_planner::GlobalPlanner::planner_

private

Definition at line 187 of file planner_core.h.

◆ planner_window_x_

double global_planner::GlobalPlanner::planner_window_x_

private

Definition at line 182 of file planner_core.h.

◆ planner_window_y_

double global_planner::GlobalPlanner::planner_window_y_

private

Definition at line 182 of file planner_core.h.

◆ potential_array_

float* global_planner::GlobalPlanner::potential_array_

private

Definition at line 197 of file planner_core.h.

◆ potential_pub_

ros::Publisher global_planner::GlobalPlanner::potential_pub_

private

Definition at line 192 of file planner_core.h.

◆ publish_potential_

bool global_planner::GlobalPlanner::publish_potential_

private

Definition at line 191 of file planner_core.h.

◆ publish_scale_

int global_planner::GlobalPlanner::publish_scale_

private

Definition at line 193 of file planner_core.h.

◆ start_x_

unsigned int global_planner::GlobalPlanner::start_x_

private

Definition at line 198 of file planner_core.h.

◆ start_y_

unsigned int global_planner::GlobalPlanner::start_y_

private

Definition at line 198 of file planner_core.h.

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

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GlobalPlanner() [1/2]

◆ GlobalPlanner() [2/2]

◆ ~GlobalPlanner()

Member Function Documentation

◆ clearRobotCell()

◆ computePotential()

◆ getPlanFromPotential()

◆ getPointPotential()

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ makePlan() [1/2]

◆ makePlan() [2/2]

◆ makePlanService()

◆ mapToWorld()

◆ outlineMap()

◆ publishPlan()

◆ publishPotential()

◆ reconfigureCB()

◆ validPointPotential() [1/2]

◆ validPointPotential() [2/2]

◆ worldToMap()

Member Data Documentation

◆ allow_unknown_

◆ convert_offset_

◆ costmap_

◆ default_tolerance_

◆ dsrv_

◆ end_x_

◆ end_y_

◆ frame_id_

◆ initialized_

◆ make_plan_srv_

◆ mutex_

◆ old_navfn_behavior_

◆ orientation_filter_

◆ outline_map_

◆ p_calc_

◆ path_maker_

◆ plan_pub_

◆ planner_

◆ planner_window_x_

◆ planner_window_y_

◆ potential_array_

◆ potential_pub_

◆ publish_potential_

◆ publish_scale_

◆ start_x_

◆ start_y_