navfn::NavfnROS Class Reference

Provides a ROS wrapper for the navfn planner which runs a fast, interpolated navigation function on a costmap. More...

#include <navfn_ros.h>

Inheritance diagram for navfn::NavfnROS:

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 (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...
void	initialize (std::string name, costmap_2d::Costmap2D *costmap, std::string global_frame)
	Initialization function for the NavFnROS object. More...
void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the NavFnROS 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)
	NavfnROS ()
	Default constructor for the NavFnROS object. More...
	NavfnROS (std::string name, costmap_2d::Costmap2D *costmap, std::string global_frame)
	Constructor for the NavFnROS object. More...
	NavfnROS (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Constructor for the NavFnROS object. More...
void	publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, double r, double g, double b, double a)
	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...
	~NavfnROS ()
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...
bool	initialized_
ros::Publisher	plan_pub_
boost::shared_ptr< NavFn >	planner_
ros::Publisher	potarr_pub_
bool	visualize_potential_

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)
double	sq_distance (const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2)

Private Attributes
double	default_tolerance_
std::string	global_frame_
ros::ServiceServer	make_plan_srv_
boost::mutex	mutex_
double	planner_window_x_
double	planner_window_y_

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

Detailed Description

Provides a ROS wrapper for the navfn planner which runs a fast, interpolated navigation function on a costmap.

Definition at line 91 of file navfn_ros.h.

Constructor & Destructor Documentation

NavfnROS() [1/3]

navfn::NavfnROS::NavfnROS

(

)

Default constructor for the NavFnROS object.

Definition at line 83 of file navfn_ros.cpp.

NavfnROS() [2/3]

navfn::NavfnROS::NavfnROS	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructor for the NavFnROS object.

Parameters

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

Definition at line 86 of file navfn_ros.cpp.

NavfnROS() [3/3]

navfn::NavfnROS::NavfnROS	(	std::string	name,
		costmap_2d::Costmap2D *	costmap,
		std::string	global_frame
	)

Constructor for the NavFnROS object.

Parameters

name	The name of this planner
costmap	A pointer to the costmap to use
global_frame	The global frame of the costmap

Definition at line 92 of file navfn_ros.cpp.

~NavfnROS()

navfn::NavfnROS::~NavfnROS ( )

inline

Definition at line 191 of file navfn_ros.h.

Member Function Documentation

clearRobotCell()

void navfn::NavfnROS::clearRobotCell ( const geometry_msgs::PoseStamped &  global_pose, unsigned int  mx, unsigned int  my  )

private

Definition at line 204 of file navfn_ros.cpp.

computePotential()

bool navfn::NavfnROS::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

Definition at line 176 of file navfn_ros.cpp.

getPlanFromPotential()

bool navfn::NavfnROS::getPlanFromPotential	(	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

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 405 of file navfn_ros.cpp.

getPointPotential()

double navfn::NavfnROS::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

Definition at line 162 of file navfn_ros.cpp.

initialize() [1/2]

void navfn::NavfnROS::initialize	(	std::string	name,
		costmap_2d::Costmap2D *	costmap,
		std::string	global_frame
	)

Initialization function for the NavFnROS object.

Parameters

name	The name of this planner
costmap	A pointer to the costmap to use for planning
global_frame	The global frame of the costmap

Definition at line 98 of file navfn_ros.cpp.

initialize() [2/2]

void navfn::NavfnROS::initialize ( std::string  name, costmap_2d::Costmap2DROS *  costmap_ros  )

virtual

Initialization function for the NavFnROS object.

Parameters

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

Implements nav_core::BaseGlobalPlanner.

Definition at line 127 of file navfn_ros.cpp.

makePlan() [1/2]

bool navfn::NavfnROS::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 233 of file navfn_ros.cpp.

makePlan() [2/2]

bool navfn::NavfnROS::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 228 of file navfn_ros.cpp.

makePlanService()

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

Definition at line 214 of file navfn_ros.cpp.

mapToWorld()

void navfn::NavfnROS::mapToWorld ( double  mx, double  my, double &  wx, double &  wy  )

private

Definition at line 223 of file navfn_ros.cpp.

publishPlan()

void navfn::NavfnROS::publishPlan	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		double	r,
		double	g,
		double	b,
		double	a
	)

Publish a path for visualization purposes.

Definition at line 378 of file navfn_ros.cpp.

sq_distance()

double navfn::NavfnROS::sq_distance ( const geometry_msgs::PoseStamped &  p1, const geometry_msgs::PoseStamped &  p2  )

inlineprivate

Definition at line 208 of file navfn_ros.h.

validPointPotential() [1/2]

bool navfn::NavfnROS::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

Definition at line 131 of file navfn_ros.cpp.

validPointPotential() [2/2]

bool navfn::NavfnROS::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

Definition at line 135 of file navfn_ros.cpp.

Member Data Documentation

allow_unknown_

bool navfn::NavfnROS::allow_unknown_

protected

Definition at line 204 of file navfn_ros.h.

costmap_

costmap_2d::Costmap2D* navfn::NavfnROS::costmap_

protected

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

Definition at line 200 of file navfn_ros.h.

default_tolerance_

double navfn::NavfnROS::default_tolerance_

private

Definition at line 216 of file navfn_ros.h.

global_frame_

std::string navfn::NavfnROS::global_frame_

private

Definition at line 219 of file navfn_ros.h.

initialized_

bool navfn::NavfnROS::initialized_

protected

Definition at line 204 of file navfn_ros.h.

make_plan_srv_

ros::ServiceServer navfn::NavfnROS::make_plan_srv_

private

Definition at line 218 of file navfn_ros.h.

mutex_

boost::mutex navfn::NavfnROS::mutex_

private

Definition at line 217 of file navfn_ros.h.

plan_pub_

ros::Publisher navfn::NavfnROS::plan_pub_

protected

Definition at line 202 of file navfn_ros.h.

planner_

boost::shared_ptr<NavFn> navfn::NavfnROS::planner_

protected

Definition at line 201 of file navfn_ros.h.

planner_window_x_

double navfn::NavfnROS::planner_window_x_

private

Definition at line 216 of file navfn_ros.h.

planner_window_y_

double navfn::NavfnROS::planner_window_y_

private

Definition at line 216 of file navfn_ros.h.

potarr_pub_

ros::Publisher navfn::NavfnROS::potarr_pub_

protected

Definition at line 203 of file navfn_ros.h.

visualize_potential_

bool navfn::NavfnROS::visualize_potential_

protected

Definition at line 204 of file navfn_ros.h.

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

• navfn_ros.h
• navfn_ros.cpp