The CostmapRecoveryExecution binds a local and a global costmap to the AbstractRecoveryExecution and uses the nav_core/CostmapRecovery class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...
#include <costmap_recovery_execution.h>
Public Types | |
| typedef boost::shared_ptr< CostmapRecoveryExecution > | Ptr |
 Public Types inherited from mbf_abstract_nav::AbstractRecoveryExecution | |
| typedef boost::shared_ptr< AbstractRecoveryExecution > | Ptr |
| enum | RecoveryState |
Public Member Functions | |
| CostmapRecoveryExecution (const std::string &recovery_name, const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr, const TFPtr &tf_listener_ptr, const CostmapWrapper::Ptr &global_costmap, const CostmapWrapper::Ptr &local_costmap, const MoveBaseFlexConfig &config) | |
| Constructor. More... | |
| virtual | ~CostmapRecoveryExecution () |
| Public Member Functions inherited from mbf_abstract_nav::AbstractRecoveryExecution | |
| AbstractRecoveryExecution (const std::string &name, const mbf_abstract_core::AbstractRecovery::Ptr &recovery_ptr, const TFPtr &tf_listener_ptr, const MoveBaseFlexConfig &config) | |
| virtual bool | cancel () |
| AbstractRecoveryExecution::RecoveryState | getState () |
| bool | isPatienceExceeded () |
| void | reconfigure (const MoveBaseFlexConfig &config) |
| virtual | ~AbstractRecoveryExecution () |
| Public Member Functions inherited from mbf_abstract_nav::AbstractExecutionBase | |
| AbstractExecutionBase (const std::string &name) | |
| const std::string & | getMessage () const |
| const std::string & | getName () const |
| uint32_t | getOutcome () const |
| void | join () |
| virtual void | reconfigure (MoveBaseFlexConfig &_cfg) |
| virtual bool | start () |
| virtual void | stop () |
| boost::cv_status | waitForStateUpdate (boost::chrono::microseconds const &duration) |
| virtual | ~AbstractExecutionBase () |
Private Member Functions | |
| void | postRun () |
| Implementation-specific cleanup function, called right after execution. This method overrides abstract execution empty implementation with underlying map-specific cleanup code. More... | |
| void | preRun () |
| Implementation-specific setup function, called right before execution. This method overrides abstract execution empty implementation with underlying map-specific setup code. More... | |
| mbf_abstract_nav::MoveBaseFlexConfig | toAbstract (const MoveBaseFlexConfig &config) |
Private Attributes | |
| const CostmapWrapper::Ptr & | global_costmap_ |
| Shared pointer to the global costmap. More... | |
| const CostmapWrapper::Ptr & | local_costmap_ |
| Shared pointer to thr local costmap. More... | |
Additional Inherited Members | |
| Public Attributes inherited from mbf_abstract_nav::AbstractRecoveryExecution | |
| CANCELED | |
| INITIALIZED | |
| INTERNAL_ERROR | |
| RECOVERING | |
| RECOVERY_DONE | |
| STARTED | |
| STOPPED | |
| WRONG_NAME | |
| Protected Member Functions inherited from mbf_abstract_nav::AbstractRecoveryExecution | |
| virtual void | run () |
| Protected Attributes inherited from mbf_abstract_nav::AbstractRecoveryExecution | |
| mbf_abstract_core::AbstractRecovery::Ptr | behavior_ |
| const TFPtr | tf_listener_ptr_ |
| Protected Attributes inherited from mbf_abstract_nav::AbstractExecutionBase | |
| bool | cancel_ |
| boost::condition_variable | condition_ |
| std::string | message_ |
| std::string | name_ |
| uint32_t | outcome_ |
| boost::thread | thread_ |
Detailed Description
The CostmapRecoveryExecution binds a local and a global costmap to the AbstractRecoveryExecution and uses the nav_core/CostmapRecovery class as base plugin interface. This class makes move_base_flex compatible to the old move_base.
Definition at line 60 of file costmap_recovery_execution.h.
Member Typedef Documentation
◆ Ptr
Definition at line 64 of file costmap_recovery_execution.h.
Constructor & Destructor Documentation
◆ CostmapRecoveryExecution()
| mbf_costmap_nav::CostmapRecoveryExecution::CostmapRecoveryExecution | ( | const std::string & | recovery_name, |
| const mbf_costmap_core::CostmapRecovery::Ptr & | recovery_ptr, | ||
| const TFPtr & | tf_listener_ptr, | ||
| const CostmapWrapper::Ptr & | global_costmap, | ||
| const CostmapWrapper::Ptr & | local_costmap, | ||
| const MoveBaseFlexConfig & | config | ||
| ) |
Constructor.
- Parameters
-
recovery_name Name of the recovery behavior to run. recovery_ptr Shared pointer to the plugin to use. tf_listener_ptr Shared pointer to a common tf listener global_costmap Shared pointer to the global costmap. local_costmap Shared pointer to the local costmap. config Current server configuration (dynamic).
Definition at line 47 of file costmap_recovery_execution.cpp.
◆ ~CostmapRecoveryExecution()
|
virtual |
Destructor
Definition at line 59 of file costmap_recovery_execution.cpp.
Member Function Documentation
◆ postRun()
|
inlineprivatevirtual |
Implementation-specific cleanup function, called right after execution. This method overrides abstract execution empty implementation with underlying map-specific cleanup code.
Reimplemented from mbf_abstract_nav::AbstractExecutionBase.
Definition at line 103 of file costmap_recovery_execution.h.
◆ preRun()
|
inlineprivatevirtual |
Implementation-specific setup function, called right before execution. This method overrides abstract execution empty implementation with underlying map-specific setup code.
Reimplemented from mbf_abstract_nav::AbstractExecutionBase.
Definition at line 93 of file costmap_recovery_execution.h.
◆ toAbstract()
|
private |
Definition at line 63 of file costmap_recovery_execution.cpp.
Member Data Documentation
◆ global_costmap_
|
private |
Shared pointer to the global costmap.
Definition at line 112 of file costmap_recovery_execution.h.
◆ local_costmap_
|
private |
Shared pointer to thr local costmap.
Definition at line 115 of file costmap_recovery_execution.h.
The documentation for this class was generated from the following files: