nav_core::BaseLocalPlanner Class Reference

Provides an interface for local planners used in navigation. All local planners written as plugins for the navigation stack must adhere to this interface. More...

#include <base_local_planner.h>

Public Member Functions
virtual bool	computeVelocityCommands (geometry_msgs::Twist &cmd_vel)=0
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base. More...
virtual void	initialize (std::string name, tf2_ros::Buffer *tf, costmap_2d::Costmap2DROS *costmap_ros)=0
	Constructs the local planner. More...
virtual bool	isGoalReached ()=0
	Check if the goal pose has been achieved by the local planner. More...
virtual bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &plan)=0
	Set the plan that the local planner is following. More...
virtual	~BaseLocalPlanner ()
	Virtual destructor for the interface. More...

Protected Member Functions
	BaseLocalPlanner ()

Detailed Description

Provides an interface for local planners used in navigation. All local planners written as plugins for the navigation stack must adhere to this interface.

Definition at line 85 of file base_local_planner.h.

Constructor & Destructor Documentation

~BaseLocalPlanner()

virtual nav_core::BaseLocalPlanner::~BaseLocalPlanner ( )

inlinevirtual

Virtual destructor for the interface.

Definition at line 118 of file base_local_planner.h.

BaseLocalPlanner()

nav_core::BaseLocalPlanner::BaseLocalPlanner ( )

inlineprotected

Definition at line 121 of file base_local_planner.h.

Member Function Documentation

computeVelocityCommands()

virtual bool nav_core::BaseLocalPlanner::computeVelocityCommands ( geometry_msgs::Twist &  cmd_vel )

pure virtual

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters

cmd_vel

Will be filled with the velocity command to be passed to the robot base

Returns

True if a valid velocity command was found, false otherwise

initialize()

virtual void nav_core::BaseLocalPlanner::initialize ( std::string  name, tf2_ros::Buffer *  tf, costmap_2d::Costmap2DROS *  costmap_ros  )

pure virtual

Constructs the local planner.

Parameters

name	The name to give this instance of the local planner
tf	A pointer to a transform listener
costmap_ros	The cost map to use for assigning costs to local plans

isGoalReached()

virtual bool nav_core::BaseLocalPlanner::isGoalReached ( )

pure virtual

Check if the goal pose has been achieved by the local planner.

Returns

True if achieved, false otherwise

setPlan()

virtual bool nav_core::BaseLocalPlanner::setPlan ( const std::vector< geometry_msgs::PoseStamped > &  plan )

pure virtual

Set the plan that the local planner is following.

Parameters

plan	The plan to pass to the local planner

Returns

True if the plan was updated successfully, false otherwise

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

• base_local_planner.h