costmap_planner_execution.h
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1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
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33  * costmap_planner_execution.h
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35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
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40 
41 #ifndef MBF_COSTMAP_NAV__COSTMAP_PLANNER_EXECUTION_H_
42 #define MBF_COSTMAP_NAV__COSTMAP_PLANNER_EXECUTION_H_
43 
46 
47 #include "mbf_costmap_nav/MoveBaseFlexConfig.h"
49 
50 
51 namespace mbf_costmap_nav
52 {
61 {
62 public:
71  CostmapPlannerExecution(const std::string& planner_name, const mbf_costmap_core::CostmapPlanner::Ptr& planner_ptr,
72  const TFPtr& tf_listener_ptr, const CostmapWrapper::Ptr& costmap_ptr,
73  const MoveBaseFlexConfig& config);
74 
78  virtual ~CostmapPlannerExecution();
79 
80 
81 private:
86  void preRun()
87  {
88  costmap_ptr_->checkActivate();
89  };
90 
95  void postRun()
96  {
97  costmap_ptr_->checkDeactivate();
98  };
99 
100  mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config);
101 
113  virtual uint32_t makePlan(
114  const geometry_msgs::PoseStamped &start,
115  const geometry_msgs::PoseStamped &goal,
116  double tolerance,
117  std::vector<geometry_msgs::PoseStamped> &plan,
118  double &cost,
119  std::string &message);
120 
123 
126 
128  std::string planner_name_;
129 };
130 
131 } /* namespace mbf_costmap_nav */
132 
133 #endif /* MBF_COSTMAP_NAV__COSTMAP_PLANNER_EXECUTION_H_ */
mbf_costmap_nav::CostmapPlannerExecution
The CostmapPlannerExecution binds a global costmap to the AbstractPlannerExecution and uses the nav_c...
Definition: costmap_planner_execution.h:60
boost::shared_ptr
mbf_costmap_nav::CostmapPlannerExecution::makePlan
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)
Calls the planner plugin to make a plan from the start pose to the goal pose with the given tolerance...
Definition: costmap_planner_execution.cpp:71
costmap_wrapper.h
mbf_costmap_nav::CostmapPlannerExecution::postRun
void postRun()
Implementation-specific cleanup function, called right after execution. This method overrides abstrac...
Definition: costmap_planner_execution.h:95
mbf_costmap_nav
Definition: costmap_controller_execution.h:51
costmap_planner.h
abstract_planner_execution.h
mbf_costmap_nav::CostmapPlannerExecution::planner_name_
std::string planner_name_
Name of the planner assigned by the class loader.
Definition: costmap_planner_execution.h:128
mbf_costmap_nav::CostmapPlannerExecution::~CostmapPlannerExecution
virtual ~CostmapPlannerExecution()
Destructor.
Definition: costmap_planner_execution.cpp:57
mbf_costmap_nav::CostmapPlannerExecution::preRun
void preRun()
Implementation-specific setup function, called right before execution. This method overrides abstract...
Definition: costmap_planner_execution.h:86
mbf_costmap_nav::CostmapPlannerExecution::lock_costmap_
bool lock_costmap_
Whether to lock costmap before calling the planner (see issue #4 for details)
Definition: costmap_planner_execution.h:125
mbf_abstract_nav::AbstractPlannerExecution
mbf_costmap_nav::CostmapPlannerExecution::costmap_ptr_
const CostmapWrapper::Ptr & costmap_ptr_
Shared pointer to the global planner costmap.
Definition: costmap_planner_execution.h:122
mbf_costmap_nav::CostmapPlannerExecution::CostmapPlannerExecution
CostmapPlannerExecution(const std::string &planner_name, const mbf_costmap_core::CostmapPlanner::Ptr &planner_ptr, const TFPtr &tf_listener_ptr, const CostmapWrapper::Ptr &costmap_ptr, const MoveBaseFlexConfig &config)
Constructor.
Definition: costmap_planner_execution.cpp:47
mbf_abstract_nav::AbstractExecutionBase::start
virtual bool start()
mbf_costmap_nav::CostmapPlannerExecution::toAbstract
mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config)
Definition: costmap_planner_execution.cpp:61


mbf_costmap_nav
Author(s): Sebastian Pütz
autogenerated on Wed Mar 2 2022 00:33:55