Public Types
using	Astar = GridAstar< 3, 2 >

Public Member Functions
void	cbParameter (const Planner3DConfig &config, const uint32_t)

	Planner3dNode ()

void	planPath (const ros::Time &now)

void	resetGridAstarModel (const bool force_reset)

void	spin ()

void	waitUntil (const ros::Time &next_replan_time)

Protected Types
enum	DiscretePoseStatus { DiscretePoseStatus::OK, DiscretePoseStatus::RELOCATED, DiscretePoseStatus::IN_ROCK, DiscretePoseStatus::OUT_OF_MAP }

using	Planner3DActionServer = actionlib::SimpleActionServer< move_base_msgs::MoveBaseAction >

using	Planner3DTolerantActionServer = actionlib::SimpleActionServer< planner_cspace_msgs::MoveWithToleranceAction >

enum	StartPoseStatus { StartPoseStatus::START_OCCUPIED, StartPoseStatus::FINISHING, StartPoseStatus::NORMAL }

Protected Member Functions
void	applyCostmapUpdate (const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr &msg)

StartPoseStatus	buildStartPoses (const geometry_msgs::Pose &start_metric, const geometry_msgs::Pose &end_metric, std::vector< Astar::VecWithCost > &result_start_poses)

void	cbAction ()

bool	cbForget (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)

void	cbGoal (const geometry_msgs::PoseStamped::ConstPtr &msg)

bool	cbMakePlan (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res)

void	cbMap (const costmap_cspace_msgs::CSpace3D::ConstPtr &msg)

void	cbMapUpdate (const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr &msg)

void	cbNoMapUpdateTimer (const ros::TimerEvent &e)

void	cbPreempt ()

void	cbTemporaryEscape (const std_msgs::Empty::ConstPtr &)

void	cbTolerantAction ()

void	clearHysteresis ()

bool	createCostEstimCache (const bool goal_changed=true)

void	diagnoseStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)

int	getSwitchIndex (const nav_msgs::Path &path) const

geometry_msgs::Point32	grid2MetricPoint (const Astar::Vec &grid) const

geometry_msgs::Pose	grid2MetricPose (const Astar::Vec &grid) const

bool	isPathFinishing (const Astar::Vec &start_grid, const Astar::Vec &end_grid) const

bool	makePlan (const geometry_msgs::Pose &start_metric, const geometry_msgs::Pose &end_metric, nav_msgs::Path &path, bool hyst)

Astar::Vec	metric2Grid (const geometry_msgs::Pose &pose) const

void	publishCurrentGoal ()

void	publishDebug ()

void	publishEmptyPath ()

void	publishFinishPath ()

void	publishPath (const nav_msgs::Path &path)

void	publishRememberedMap ()

void	publishStartAndGoalMarkers (const Astar::Vec &start_grid, const Astar::Vec &end_grid)

DiscretePoseStatus	relocateDiscretePoseIfNeeded (Astar::Vec &pose_discrete, const int tolerance_range, const int tolerance_angle, bool use_cm_rough=false) const

template<class T >
DiscretePoseStatus	relocateDiscretePoseIfNeededImpl (const T &cm, const int tolerance_range, const int tolerance_angle, Astar::Vec &pose_discrete) const

template<class T >
bool	searchAvailablePos (const T &cm, Astar::Vec &s, const int xy_range, const int angle_range, int cost_acceptable=-1, const int min_xy_range=0) const

bool	setGoal (const geometry_msgs::PoseStamped &msg)

void	updateStart ()

void	updateTemporaryEscapeGoal (const Astar::Vec &start_grid, const bool log_on_unready=true)

Protected Attributes
std::shared_ptr< Planner3DActionServer >	act_

std::shared_ptr< Planner3DTolerantActionServer >	act_tolerant_

bool	antialias_start_

DistanceMap	arrivable_map_

Astar	as_

CostmapBBF::Ptr	bbf_costmap_

CostCoeff	cc_

Astar::Gridmap< char, 0x40 >	cm_

Astar::Gridmap< char, 0x40 >	cm_base_

Astar::Gridmap< char, 0x80 >	cm_hyst_

Astar::Gridmap< char, 0x80 >	cm_local_esc_

Astar::Gridmap< char, 0x80 >	cm_rough_

Astar::Gridmap< char, 0x80 >	cm_rough_base_

Astar::Gridmap< char, 0x80 >	cm_updates_

int	cnt_stuck_

DistanceMap	cost_estim_cache_

bool	cost_estim_cache_created_

DistanceMap	cost_estim_cache_static_

ros::Duration	costmap_watchdog_

diagnostic_updater::Updater	diag_updater_

Astar::Vecf	ec_

bool	enable_crowd_mode_

int	esc_angle_

int	esc_range_

double	esc_range_f_

int	esc_range_min_

double	esc_range_min_ratio_

bool	escaping_

bool	fast_map_update_

bool	find_best_

bool	force_goal_orientation_

float	freq_

float	freq_min_

geometry_msgs::PoseStamped	goal_

geometry_msgs::PoseStamped	goal_original_

geometry_msgs::PoseStamped	goal_raw_

int	goal_tolerance_ang_

double	goal_tolerance_ang_f_

double	goal_tolerance_ang_finish_

int	goal_tolerance_lin_

double	goal_tolerance_lin_f_

planner_cspace_msgs::MoveWithToleranceGoalConstPtr	goal_tolerant_

double	grid_enumeration_resolution_

bool	has_goal_

bool	has_hysteresis_map_

bool	has_map_

bool	has_start_

int	hist_ignore_range_

double	hist_ignore_range_f_

int	hist_ignore_range_max_

double	hist_ignore_range_max_f_

std::vector< Astar::Vec >	hyst_updated_cells_

bool	is_path_switchback_

bool	is_start_occupied_

JumpDetector	jump_

bool	keep_a_part_of_previous_path_

ros::Time	last_costmap_

int	local_range_

double	local_range_f_

double	longcut_range_f_

std_msgs::Header	map_header_

costmap_cspace_msgs::MapMetaData3D	map_info_

costmap_cspace_msgs::CSpace3DUpdate::ConstPtr	map_update_retained_

int	max_retry_num_

neonavigation_metrics_msgs::Metrics	metrics_

GridAstarModel3D::Ptr	model_

ros::NodeHandle	nh_

ros::Timer	no_map_update_timer_

int	num_cost_estim_task_

int	num_task_

bool	overwrite_cost_

dynamic_reconfigure::Server< Planner3DConfig >	parameter_server_

double	path_interpolation_resolution_

ros::NodeHandle	pnh_

int	prev_map_update_x_max_

int	prev_map_update_x_min_

int	prev_map_update_y_max_

int	prev_map_update_y_min_

nav_msgs::Path	previous_path_

ros::Publisher	pub_distance_map_

ros::Publisher	pub_end_

ros::Publisher	pub_goal_

ros::Publisher	pub_hysteresis_map_

ros::Publisher	pub_metrics_

ros::Publisher	pub_path_

ros::Publisher	pub_path_poses_

ros::Publisher	pub_path_velocity_

ros::Publisher	pub_preserved_path_poses_

ros::Publisher	pub_remembered_map_

ros::Publisher	pub_start_

ros::Publisher	pub_status_

int	range_

int	relocation_acceptable_cost_

float	remember_hit_odds_

float	remember_miss_odds_

bool	remember_updates_

bool	retain_last_error_status_

std::string	robot_frame_

bool	rough_

std::vector< Astar::Vec >	search_list_

std::vector< Astar::Vec >	search_list_rough_

float	search_range_

float	search_timeout_abort_

ros::ServiceServer	srs_forget_

ros::ServiceServer	srs_make_plan_

geometry_msgs::PoseStamped	start_

StartPosePredictor	start_pose_predictor_

planner_cspace_msgs::PlannerStatus	status_

ros::Subscriber	sub_goal_

ros::Subscriber	sub_map_

ros::Subscriber	sub_map_update_

ros::Subscriber	sub_temporary_escape_trigger_

geometry_msgs::PoseStamped	sw_pos_

float	sw_wait_

bool	temporary_escape_

int	temporary_escape_tolerance_ang_

double	temporary_escape_tolerance_ang_f_

int	temporary_escape_tolerance_lin_

double	temporary_escape_tolerance_lin_f_

tf2_ros::Buffer	tfbuf_

tf2_ros::TransformListener	tfl_

int	tolerance_angle_

double	tolerance_angle_f_

int	tolerance_range_

double	tolerance_range_f_

bool	trigger_plan_by_costmap_update_

int	unknown_cost_

bool	use_path_with_velocity_

Detailed Description

Definition at line 94 of file planner_3d.cpp.

Member Typedef Documentation

◆ Astar

using planner_cspace::planner_3d::Planner3dNode::Astar = GridAstar<3, 2>

Definition at line 97 of file planner_3d.cpp.

◆ Planner3DActionServer

using planner_cspace::planner_3d::Planner3dNode::Planner3DActionServer = actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction>

protected

Definition at line 100 of file planner_3d.cpp.

◆ Planner3DTolerantActionServer

using planner_cspace::planner_3d::Planner3dNode::Planner3DTolerantActionServer = actionlib::SimpleActionServer<planner_cspace_msgs::MoveWithToleranceAction>

protected

Definition at line 101 of file planner_3d.cpp.

Member Enumeration Documentation

◆ DiscretePoseStatus

enum planner_cspace::planner_3d::Planner3dNode::DiscretePoseStatus

strongprotected

Enumerator
OK
RELOCATED
IN_ROCK
OUT_OF_MAP

Definition at line 268 of file planner_3d.cpp.

◆ StartPoseStatus

enum planner_cspace::planner_3d::Planner3dNode::StartPoseStatus

strongprotected

Enumerator
START_OCCUPIED
FINISHING
NORMAL

Definition at line 1795 of file planner_3d.cpp.

Constructor & Destructor Documentation

◆ Planner3dNode()

planner_cspace::planner_3d::Planner3dNode::Planner3dNode ( )

inline

Definition at line 1154 of file planner_3d.cpp.

Member Function Documentation

◆ applyCostmapUpdate()

void planner_cspace::planner_3d::Planner3dNode::applyCostmapUpdate ( const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr & msg )

inlineprotected

Definition at line 780 of file planner_3d.cpp.

◆ buildStartPoses()

StartPoseStatus planner_cspace::planner_3d::Planner3dNode::buildStartPoses	(	const geometry_msgs::Pose &	start_metric,
		const geometry_msgs::Pose &	end_metric,
		std::vector< Astar::VecWithCost > &	result_start_poses
	)

inlineprotected

Definition at line 1801 of file planner_3d.cpp.

◆ cbAction()

void planner_cspace::planner_3d::Planner3dNode::cbAction ( )

inlineprotected

Definition at line 1100 of file planner_3d.cpp.

◆ cbForget()

bool planner_cspace::planner_3d::Planner3dNode::cbForget	(	std_srvs::EmptyRequest &	req,
		std_srvs::EmptyResponse &	res
	)

inlineprotected

Definition at line 250 of file planner_3d.cpp.

◆ cbGoal()

void planner_cspace::planner_3d::Planner3dNode::cbGoal ( const geometry_msgs::PoseStamped::ConstPtr & msg )

inlineprotected

Definition at line 436 of file planner_3d.cpp.

◆ cbMakePlan()

bool planner_cspace::planner_3d::Planner3dNode::cbMakePlan	(	nav_msgs::GetPlan::Request &	req,
		nav_msgs::GetPlan::Response &	res
	)

inlineprotected

Definition at line 340 of file planner_3d.cpp.

◆ cbMap()

void planner_cspace::planner_3d::Planner3dNode::cbMap ( const costmap_cspace_msgs::CSpace3D::ConstPtr & msg )

inlineprotected

Definition at line 986 of file planner_3d.cpp.

◆ cbMapUpdate()

void planner_cspace::planner_3d::Planner3dNode::cbMapUpdate ( const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr & msg )

inlineprotected

Definition at line 964 of file planner_3d.cpp.

◆ cbNoMapUpdateTimer()

void planner_cspace::planner_3d::Planner3dNode::cbNoMapUpdateTimer ( const ros::TimerEvent & e )

inlineprotected

Definition at line 958 of file planner_3d.cpp.

◆ cbParameter()

void planner_cspace::planner_3d::Planner3dNode::cbParameter	(	const Planner3DConfig &	config,
		const uint32_t
	)

inline

Definition at line 1388 of file planner_3d.cpp.

◆ cbPreempt()

void planner_cspace::planner_3d::Planner3dNode::cbPreempt ( )

inlineprotected

Definition at line 445 of file planner_3d.cpp.

◆ cbTemporaryEscape()

void planner_cspace::planner_3d::Planner3dNode::cbTemporaryEscape ( const std_msgs::Empty::ConstPtr & )

inlineprotected

Definition at line 259 of file planner_3d.cpp.

◆ cbTolerantAction()

void planner_cspace::planner_3d::Planner3dNode::cbTolerantAction ( )

inlineprotected

Definition at line 1113 of file planner_3d.cpp.

◆ clearHysteresis()

void planner_cspace::planner_3d::Planner3dNode::clearHysteresis ( )

inlineprotected

Definition at line 657 of file planner_3d.cpp.

◆ createCostEstimCache()

bool planner_cspace::planner_3d::Planner3dNode::createCostEstimCache ( const bool goal_changed = true )

inlineprotected

Definition at line 560 of file planner_3d.cpp.

◆ diagnoseStatus()

void planner_cspace::planner_3d::Planner3dNode::diagnoseStatus ( diagnostic_updater::DiagnosticStatusWrapper & stat )

inlineprotected

Definition at line 2310 of file planner_3d.cpp.

◆ getSwitchIndex()

int planner_cspace::planner_3d::Planner3dNode::getSwitchIndex ( const nav_msgs::Path & path ) const

inlineprotected

Definition at line 2277 of file planner_3d.cpp.

◆ grid2MetricPoint()

geometry_msgs::Point32 planner_cspace::planner_3d::Planner3dNode::grid2MetricPoint ( const Astar::Vec & grid ) const

inlineprotected

Definition at line 330 of file planner_3d.cpp.

◆ grid2MetricPose()

geometry_msgs::Pose planner_cspace::planner_3d::Planner3dNode::grid2MetricPose ( const Astar::Vec & grid ) const

inlineprotected

Definition at line 320 of file planner_3d.cpp.

◆ isPathFinishing()

bool planner_cspace::planner_3d::Planner3dNode::isPathFinishing	(	const Astar::Vec &	start_grid,
		const Astar::Vec &	end_grid
	)		const

inlineprotected

Definition at line 1772 of file planner_3d.cpp.

◆ makePlan()

bool planner_cspace::planner_3d::Planner3dNode::makePlan	(	const geometry_msgs::Pose &	start_metric,
		const geometry_msgs::Pose &	end_metric,
		nav_msgs::Path &	path,
		bool	hyst
	)

inlineprotected

Definition at line 1891 of file planner_3d.cpp.

◆ metric2Grid()

Astar::Vec planner_cspace::planner_3d::Planner3dNode::metric2Grid ( const geometry_msgs::Pose & pose ) const

inlineprotected

Definition at line 310 of file planner_3d.cpp.

◆ planPath()

void planner_cspace::planner_3d::Planner3dNode::planPath ( const ros::Time & now )

inline

Definition at line 1545 of file planner_3d.cpp.

◆ publishCurrentGoal()

void planner_cspace::planner_3d::Planner3dNode::publishCurrentGoal ( )

inlineprotected

Definition at line 1765 of file planner_3d.cpp.

◆ publishDebug()

void planner_cspace::planner_3d::Planner3dNode::publishDebug ( )

inlineprotected

Definition at line 665 of file planner_3d.cpp.

◆ publishEmptyPath()

void planner_cspace::planner_3d::Planner3dNode::publishEmptyPath ( )

inlineprotected

Definition at line 744 of file planner_3d.cpp.

◆ publishFinishPath()

void planner_cspace::planner_3d::Planner3dNode::publishFinishPath ( )

inlineprotected

Definition at line 751 of file planner_3d.cpp.

◆ publishPath()

void planner_cspace::planner_3d::Planner3dNode::publishPath ( const nav_msgs::Path & path )

inlineprotected

Definition at line 765 of file planner_3d.cpp.

◆ publishRememberedMap()

void planner_cspace::planner_3d::Planner3dNode::publishRememberedMap ( )

inlineprotected

Definition at line 723 of file planner_3d.cpp.

◆ publishStartAndGoalMarkers()

void planner_cspace::planner_3d::Planner3dNode::publishStartAndGoalMarkers	(	const Astar::Vec &	start_grid,
		const Astar::Vec &	end_grid
	)

inlineprotected

Definition at line 1755 of file planner_3d.cpp.

◆ relocateDiscretePoseIfNeeded()

DiscretePoseStatus planner_cspace::planner_3d::Planner3dNode::relocateDiscretePoseIfNeeded	(	Astar::Vec &	pose_discrete,
		const int	tolerance_range,
		const int	tolerance_angle,
		bool	use_cm_rough = `false`
	)		const

inlineprotected

Definition at line 294 of file planner_3d.cpp.

◆ relocateDiscretePoseIfNeededImpl()

template<class T >

DiscretePoseStatus planner_cspace::planner_3d::Planner3dNode::relocateDiscretePoseIfNeededImpl	(	const T &	cm,
		const int	tolerance_range,
		const int	tolerance_angle,
		Astar::Vec &	pose_discrete
	)		const

inlineprotected

Definition at line 276 of file planner_3d.cpp.

◆ resetGridAstarModel()

void planner_cspace::planner_3d::Planner3dNode::resetGridAstarModel ( const bool force_reset )

inline

Definition at line 1353 of file planner_3d.cpp.

◆ searchAvailablePos()

template<class T >

bool planner_cspace::planner_3d::Planner3dNode::searchAvailablePos	(	const T &	cm,
		Astar::Vec &	s,
		const int	xy_range,
		const int	angle_range,
		int	cost_acceptable = `-1`,
		const int	min_xy_range = `0`
	)		const

inlineprotected

Definition at line 501 of file planner_3d.cpp.

◆ setGoal()

bool planner_cspace::planner_3d::Planner3dNode::setGoal ( const geometry_msgs::PoseStamped & msg )

inlineprotected

Definition at line 458 of file planner_3d.cpp.

◆ spin()

void planner_cspace::planner_3d::Planner3dNode::spin ( )

inline

Definition at line 1719 of file planner_3d.cpp.

◆ updateStart()

void planner_cspace::planner_3d::Planner3dNode::updateStart ( )

inlineprotected

Definition at line 1126 of file planner_3d.cpp.

◆ updateTemporaryEscapeGoal()

void planner_cspace::planner_3d::Planner3dNode::updateTemporaryEscapeGoal	(	const Astar::Vec &	start_grid,
		const bool	log_on_unready = `true`
	)

inlineprotected

Definition at line 2089 of file planner_3d.cpp.

◆ waitUntil()

void planner_cspace::planner_3d::Planner3dNode::waitUntil ( const ros::Time & next_replan_time )

inline

Definition at line 1489 of file planner_3d.cpp.

Member Data Documentation

◆ act_

std::shared_ptr<Planner3DActionServer> planner_cspace::planner_3d::Planner3dNode::act_

protected

Definition at line 124 of file planner_3d.cpp.

◆ act_tolerant_

std::shared_ptr<Planner3DTolerantActionServer> planner_cspace::planner_3d::Planner3dNode::act_tolerant_

protected

Definition at line 125 of file planner_3d.cpp.

◆ antialias_start_

bool planner_cspace::planner_3d::Planner3dNode::antialias_start_

protected

Definition at line 153 of file planner_3d.cpp.

◆ arrivable_map_

DistanceMap planner_cspace::planner_3d::Planner3dNode::arrivable_map_

protected

Definition at line 142 of file planner_3d.cpp.

◆ as_

Astar planner_cspace::planner_3d::Planner3dNode::as_

protected

Definition at line 131 of file planner_3d.cpp.

◆ bbf_costmap_

CostmapBBF::Ptr planner_cspace::planner_3d::Planner3dNode::bbf_costmap_

protected

Definition at line 139 of file planner_3d.cpp.

◆ cc_

CostCoeff planner_cspace::planner_3d::Planner3dNode::cc_

protected

Definition at line 204 of file planner_3d.cpp.

◆ cm_

Astar::Gridmap<char, 0x40> planner_cspace::planner_3d::Planner3dNode::cm_

protected

Definition at line 132 of file planner_3d.cpp.

◆ cm_base_

Astar::Gridmap<char, 0x40> planner_cspace::planner_3d::Planner3dNode::cm_base_

protected

Definition at line 134 of file planner_3d.cpp.

◆ cm_hyst_

Astar::Gridmap<char, 0x80> planner_cspace::planner_3d::Planner3dNode::cm_hyst_

protected

Definition at line 136 of file planner_3d.cpp.

◆ cm_local_esc_

Astar::Gridmap<char, 0x80> planner_cspace::planner_3d::Planner3dNode::cm_local_esc_

protected

Definition at line 138 of file planner_3d.cpp.

◆ cm_rough_

Astar::Gridmap<char, 0x80> planner_cspace::planner_3d::Planner3dNode::cm_rough_

protected

Definition at line 133 of file planner_3d.cpp.

◆ cm_rough_base_

Astar::Gridmap<char, 0x80> planner_cspace::planner_3d::Planner3dNode::cm_rough_base_

protected

Definition at line 135 of file planner_3d.cpp.

◆ cm_updates_

Astar::Gridmap<char, 0x80> planner_cspace::planner_3d::Planner3dNode::cm_updates_

protected

Definition at line 137 of file planner_3d.cpp.

◆ cnt_stuck_

int planner_cspace::planner_3d::Planner3dNode::cnt_stuck_

protected

Definition at line 235 of file planner_3d.cpp.

◆ cost_estim_cache_

DistanceMap planner_cspace::planner_3d::Planner3dNode::cost_estim_cache_

protected

Definition at line 140 of file planner_3d.cpp.

◆ cost_estim_cache_created_

bool planner_cspace::planner_3d::Planner3dNode::cost_estim_cache_created_

protected

Definition at line 177 of file planner_3d.cpp.

◆ cost_estim_cache_static_

DistanceMap planner_cspace::planner_3d::Planner3dNode::cost_estim_cache_static_

protected

Definition at line 141 of file planner_3d.cpp.

◆ costmap_watchdog_

ros::Duration planner_cspace::planner_3d::Planner3dNode::costmap_watchdog_

protected

Definition at line 239 of file planner_3d.cpp.

◆ diag_updater_

diagnostic_updater::Updater planner_cspace::planner_3d::Planner3dNode::diag_updater_

protected

Definition at line 238 of file planner_3d.cpp.

◆ ec_

Astar::Vecf planner_cspace::planner_3d::Planner3dNode::ec_

protected

Definition at line 210 of file planner_3d.cpp.

◆ enable_crowd_mode_

bool planner_cspace::planner_3d::Planner3dNode::enable_crowd_mode_

protected

Definition at line 194 of file planner_3d.cpp.

◆ esc_angle_

int planner_cspace::planner_3d::Planner3dNode::esc_angle_

protected

Definition at line 160 of file planner_3d.cpp.

◆ esc_range_

int planner_cspace::planner_3d::Planner3dNode::esc_range_

protected

Definition at line 158 of file planner_3d.cpp.

◆ esc_range_f_

double planner_cspace::planner_3d::Planner3dNode::esc_range_f_

protected

Definition at line 161 of file planner_3d.cpp.

◆ esc_range_min_

int planner_cspace::planner_3d::Planner3dNode::esc_range_min_

protected

Definition at line 159 of file planner_3d.cpp.

◆ esc_range_min_ratio_

double planner_cspace::planner_3d::Planner3dNode::esc_range_min_ratio_

protected

Definition at line 162 of file planner_3d.cpp.

◆ escaping_

bool planner_cspace::planner_3d::Planner3dNode::escaping_

protected

Definition at line 233 of file planner_3d.cpp.

◆ fast_map_update_

bool planner_cspace::planner_3d::Planner3dNode::fast_map_update_

protected

Definition at line 179 of file planner_3d.cpp.

◆ find_best_

bool planner_cspace::planner_3d::Planner3dNode::find_best_

protected

Definition at line 224 of file planner_3d.cpp.

◆ force_goal_orientation_

bool planner_cspace::planner_3d::Planner3dNode::force_goal_orientation_

protected

Definition at line 231 of file planner_3d.cpp.

◆ freq_

float planner_cspace::planner_3d::Planner3dNode::freq_

protected

Definition at line 149 of file planner_3d.cpp.

◆ freq_min_

float planner_cspace::planner_3d::Planner3dNode::freq_min_

protected

Definition at line 150 of file planner_3d.cpp.

◆ goal_

geometry_msgs::PoseStamped planner_cspace::planner_3d::Planner3dNode::goal_

protected

Definition at line 207 of file planner_3d.cpp.

◆ goal_original_

geometry_msgs::PoseStamped planner_cspace::planner_3d::Planner3dNode::goal_original_

protected

Definition at line 209 of file planner_3d.cpp.

◆ goal_raw_

geometry_msgs::PoseStamped planner_cspace::planner_3d::Planner3dNode::goal_raw_

protected

Definition at line 208 of file planner_3d.cpp.

◆ goal_tolerance_ang_

int planner_cspace::planner_3d::Planner3dNode::goal_tolerance_ang_

protected

Definition at line 215 of file planner_3d.cpp.

◆ goal_tolerance_ang_f_

double planner_cspace::planner_3d::Planner3dNode::goal_tolerance_ang_f_

protected

Definition at line 212 of file planner_3d.cpp.

◆ goal_tolerance_ang_finish_

double planner_cspace::planner_3d::Planner3dNode::goal_tolerance_ang_finish_

protected

Definition at line 213 of file planner_3d.cpp.

◆ goal_tolerance_lin_

int planner_cspace::planner_3d::Planner3dNode::goal_tolerance_lin_

protected

Definition at line 214 of file planner_3d.cpp.

◆ goal_tolerance_lin_f_

double planner_cspace::planner_3d::Planner3dNode::goal_tolerance_lin_f_

protected

Definition at line 211 of file planner_3d.cpp.

◆ goal_tolerant_

planner_cspace_msgs::MoveWithToleranceGoalConstPtr planner_cspace::planner_3d::Planner3dNode::goal_tolerant_

protected

Definition at line 126 of file planner_3d.cpp.

◆ grid_enumeration_resolution_

double planner_cspace::planner_3d::Planner3dNode::grid_enumeration_resolution_

protected

Definition at line 168 of file planner_3d.cpp.

◆ has_goal_

bool planner_cspace::planner_3d::Planner3dNode::has_goal_

protected

Definition at line 173 of file planner_3d.cpp.

◆ has_hysteresis_map_

bool planner_cspace::planner_3d::Planner3dNode::has_hysteresis_map_

protected

Definition at line 175 of file planner_3d.cpp.

◆ has_map_

bool planner_cspace::planner_3d::Planner3dNode::has_map_

protected

Definition at line 172 of file planner_3d.cpp.

◆ has_start_

bool planner_cspace::planner_3d::Planner3dNode::has_start_

protected

Definition at line 174 of file planner_3d.cpp.

◆ hist_ignore_range_

int planner_cspace::planner_3d::Planner3dNode::hist_ignore_range_

protected

Definition at line 183 of file planner_3d.cpp.

◆ hist_ignore_range_f_

double planner_cspace::planner_3d::Planner3dNode::hist_ignore_range_f_

protected

Definition at line 182 of file planner_3d.cpp.

◆ hist_ignore_range_max_

int planner_cspace::planner_3d::Planner3dNode::hist_ignore_range_max_

protected

Definition at line 185 of file planner_3d.cpp.

◆ hist_ignore_range_max_f_

double planner_cspace::planner_3d::Planner3dNode::hist_ignore_range_max_f_

protected

Definition at line 184 of file planner_3d.cpp.

◆ hyst_updated_cells_

std::vector<Astar::Vec> planner_cspace::planner_3d::Planner3dNode::hyst_updated_cells_

protected

Definition at line 176 of file planner_3d.cpp.

◆ is_path_switchback_

bool planner_cspace::planner_3d::Planner3dNode::is_path_switchback_

protected

Definition at line 227 of file planner_3d.cpp.

◆ is_start_occupied_

bool planner_cspace::planner_3d::Planner3dNode::is_start_occupied_

protected

Definition at line 236 of file planner_3d.cpp.

◆ jump_

JumpDetector planner_cspace::planner_3d::Planner3dNode::jump_

protected

Definition at line 196 of file planner_3d.cpp.

◆ keep_a_part_of_previous_path_

bool planner_cspace::planner_3d::Planner3dNode::keep_a_part_of_previous_path_

protected

Definition at line 192 of file planner_3d.cpp.

◆ last_costmap_

ros::Time planner_cspace::planner_3d::Planner3dNode::last_costmap_

protected

Definition at line 240 of file planner_3d.cpp.

◆ local_range_

int planner_cspace::planner_3d::Planner3dNode::local_range_

protected

Definition at line 155 of file planner_3d.cpp.

◆ local_range_f_

double planner_cspace::planner_3d::Planner3dNode::local_range_f_

protected

Definition at line 156 of file planner_3d.cpp.

◆ longcut_range_f_

double planner_cspace::planner_3d::Planner3dNode::longcut_range_f_

protected

Definition at line 157 of file planner_3d.cpp.

◆ map_header_

std_msgs::Header planner_cspace::planner_3d::Planner3dNode::map_header_

protected

Definition at line 148 of file planner_3d.cpp.

◆ map_info_

costmap_cspace_msgs::MapMetaData3D planner_cspace::planner_3d::Planner3dNode::map_info_

protected

Definition at line 146 of file planner_3d.cpp.

◆ map_update_retained_

costmap_cspace_msgs::CSpace3DUpdate::ConstPtr planner_cspace::planner_3d::Planner3dNode::map_update_retained_

protected

Definition at line 147 of file planner_3d.cpp.

◆ max_retry_num_

int planner_cspace::planner_3d::Planner3dNode::max_retry_num_

protected

Definition at line 199 of file planner_3d.cpp.

◆ metrics_

neonavigation_metrics_msgs::Metrics planner_cspace::planner_3d::Planner3dNode::metrics_

protected

Definition at line 222 of file planner_3d.cpp.

◆ model_

GridAstarModel3D::Ptr planner_cspace::planner_3d::Planner3dNode::model_

protected

Definition at line 144 of file planner_3d.cpp.

◆ nh_

ros::NodeHandle planner_cspace::planner_3d::Planner3dNode::nh_

protected

Definition at line 103 of file planner_3d.cpp.

◆ no_map_update_timer_

ros::Timer planner_cspace::planner_3d::Planner3dNode::no_map_update_timer_

protected

Definition at line 248 of file planner_3d.cpp.

◆ num_cost_estim_task_

int planner_cspace::planner_3d::Planner3dNode::num_cost_estim_task_

protected

Definition at line 191 of file planner_3d.cpp.

◆ num_task_

int planner_cspace::planner_3d::Planner3dNode::num_task_

protected

Definition at line 201 of file planner_3d.cpp.

◆ overwrite_cost_

bool planner_cspace::planner_3d::Planner3dNode::overwrite_cost_

protected

Definition at line 170 of file planner_3d.cpp.

◆ parameter_server_

dynamic_reconfigure::Server<Planner3DConfig> planner_cspace::planner_3d::Planner3dNode::parameter_server_

protected

Definition at line 129 of file planner_3d.cpp.

◆ path_interpolation_resolution_

double planner_cspace::planner_3d::Planner3dNode::path_interpolation_resolution_

protected

Definition at line 167 of file planner_3d.cpp.

◆ pnh_

ros::NodeHandle planner_cspace::planner_3d::Planner3dNode::pnh_

protected

Definition at line 104 of file planner_3d.cpp.

◆ prev_map_update_x_max_

int planner_cspace::planner_3d::Planner3dNode::prev_map_update_x_max_

protected

Definition at line 243 of file planner_3d.cpp.

◆ prev_map_update_x_min_

int planner_cspace::planner_3d::Planner3dNode::prev_map_update_x_min_

protected

Definition at line 242 of file planner_3d.cpp.

◆ prev_map_update_y_max_

int planner_cspace::planner_3d::Planner3dNode::prev_map_update_y_max_

protected

Definition at line 245 of file planner_3d.cpp.

◆ prev_map_update_y_min_

int planner_cspace::planner_3d::Planner3dNode::prev_map_update_y_min_

protected

Definition at line 244 of file planner_3d.cpp.

◆ previous_path_

nav_msgs::Path planner_cspace::planner_3d::Planner3dNode::previous_path_

protected

Definition at line 246 of file planner_3d.cpp.

◆ pub_distance_map_

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_distance_map_

protected

Definition at line 114 of file planner_3d.cpp.

◆ pub_end_

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_end_

protected

Definition at line 117 of file planner_3d.cpp.

◆ pub_goal_

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_goal_

protected

Definition at line 118 of file planner_3d.cpp.

◆ pub_hysteresis_map_

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_hysteresis_map_

protected

Definition at line 113 of file planner_3d.cpp.

◆ pub_metrics_

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_metrics_

protected

Definition at line 120 of file planner_3d.cpp.

◆ pub_path_

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_path_

protected

Definition at line 109 of file planner_3d.cpp.

◆ pub_path_poses_

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_path_poses_

protected

Definition at line 111 of file planner_3d.cpp.

◆ pub_path_velocity_

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_path_velocity_

protected

Definition at line 110 of file planner_3d.cpp.

◆ pub_preserved_path_poses_

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_preserved_path_poses_

protected

Definition at line 112 of file planner_3d.cpp.

◆ pub_remembered_map_

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_remembered_map_

protected

Definition at line 115 of file planner_3d.cpp.

◆ pub_start_

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_start_

protected

Definition at line 116 of file planner_3d.cpp.

◆ pub_status_

ros::Publisher planner_cspace::planner_3d::Planner3dNode::pub_status_

protected

Definition at line 119 of file planner_3d.cpp.

◆ range_

int planner_cspace::planner_3d::Planner3dNode::range_

protected

Definition at line 154 of file planner_3d.cpp.

◆ relocation_acceptable_cost_

int planner_cspace::planner_3d::Planner3dNode::relocation_acceptable_cost_

protected

Definition at line 171 of file planner_3d.cpp.

◆ remember_hit_odds_

float planner_cspace::planner_3d::Planner3dNode::remember_hit_odds_

protected

Definition at line 187 of file planner_3d.cpp.

◆ remember_miss_odds_

float planner_cspace::planner_3d::Planner3dNode::remember_miss_odds_

protected

Definition at line 188 of file planner_3d.cpp.

◆ remember_updates_

bool planner_cspace::planner_3d::Planner3dNode::remember_updates_

protected

Definition at line 178 of file planner_3d.cpp.

◆ retain_last_error_status_

bool planner_cspace::planner_3d::Planner3dNode::retain_last_error_status_

protected

Definition at line 190 of file planner_3d.cpp.

◆ robot_frame_

std::string planner_cspace::planner_3d::Planner3dNode::robot_frame_

protected

Definition at line 197 of file planner_3d.cpp.

◆ rough_

bool planner_cspace::planner_3d::Planner3dNode::rough_

protected

Definition at line 229 of file planner_3d.cpp.

◆ search_list_

std::vector<Astar::Vec> planner_cspace::planner_3d::Planner3dNode::search_list_

protected

Definition at line 180 of file planner_3d.cpp.

◆ search_list_rough_

std::vector<Astar::Vec> planner_cspace::planner_3d::Planner3dNode::search_list_rough_

protected

Definition at line 181 of file planner_3d.cpp.

◆ search_range_

float planner_cspace::planner_3d::Planner3dNode::search_range_

protected

Definition at line 152 of file planner_3d.cpp.

◆ search_timeout_abort_

float planner_cspace::planner_3d::Planner3dNode::search_timeout_abort_

protected

Definition at line 151 of file planner_3d.cpp.

◆ srs_forget_

ros::ServiceServer planner_cspace::planner_3d::Planner3dNode::srs_forget_

protected

Definition at line 121 of file planner_3d.cpp.

◆ srs_make_plan_

ros::ServiceServer planner_cspace::planner_3d::Planner3dNode::srs_make_plan_

protected

Definition at line 122 of file planner_3d.cpp.

◆ start_

geometry_msgs::PoseStamped planner_cspace::planner_3d::Planner3dNode::start_

protected

Definition at line 206 of file planner_3d.cpp.

◆ start_pose_predictor_

StartPosePredictor planner_cspace::planner_3d::Planner3dNode::start_pose_predictor_

protected

Definition at line 247 of file planner_3d.cpp.

◆ status_

planner_cspace_msgs::PlannerStatus planner_cspace::planner_3d::Planner3dNode::status_

protected

Definition at line 221 of file planner_3d.cpp.

◆ sub_goal_

ros::Subscriber planner_cspace::planner_3d::Planner3dNode::sub_goal_

protected

Definition at line 107 of file planner_3d.cpp.

◆ sub_map_

ros::Subscriber planner_cspace::planner_3d::Planner3dNode::sub_map_

protected

Definition at line 105 of file planner_3d.cpp.

◆ sub_map_update_

ros::Subscriber planner_cspace::planner_3d::Planner3dNode::sub_map_update_

protected

Definition at line 106 of file planner_3d.cpp.

◆ sub_temporary_escape_trigger_

ros::Subscriber planner_cspace::planner_3d::Planner3dNode::sub_temporary_escape_trigger_

protected

Definition at line 108 of file planner_3d.cpp.

◆ sw_pos_

geometry_msgs::PoseStamped planner_cspace::planner_3d::Planner3dNode::sw_pos_

protected

Definition at line 226 of file planner_3d.cpp.

◆ sw_wait_

float planner_cspace::planner_3d::Planner3dNode::sw_wait_

protected

Definition at line 225 of file planner_3d.cpp.

◆ temporary_escape_

bool planner_cspace::planner_3d::Planner3dNode::temporary_escape_

protected

Definition at line 186 of file planner_3d.cpp.

◆ temporary_escape_tolerance_ang_

int planner_cspace::planner_3d::Planner3dNode::temporary_escape_tolerance_ang_

protected

Definition at line 219 of file planner_3d.cpp.

◆ temporary_escape_tolerance_ang_f_

double planner_cspace::planner_3d::Planner3dNode::temporary_escape_tolerance_ang_f_

protected

Definition at line 217 of file planner_3d.cpp.

◆ temporary_escape_tolerance_lin_

int planner_cspace::planner_3d::Planner3dNode::temporary_escape_tolerance_lin_

protected

Definition at line 218 of file planner_3d.cpp.

◆ temporary_escape_tolerance_lin_f_

double planner_cspace::planner_3d::Planner3dNode::temporary_escape_tolerance_lin_f_

protected

Definition at line 216 of file planner_3d.cpp.

◆ tfbuf_

tf2_ros::Buffer planner_cspace::planner_3d::Planner3dNode::tfbuf_

protected

Definition at line 127 of file planner_3d.cpp.

◆ tfl_

tf2_ros::TransformListener planner_cspace::planner_3d::Planner3dNode::tfl_

protected

Definition at line 128 of file planner_3d.cpp.

◆ tolerance_angle_

int planner_cspace::planner_3d::Planner3dNode::tolerance_angle_

protected

Definition at line 164 of file planner_3d.cpp.

◆ tolerance_angle_f_

double planner_cspace::planner_3d::Planner3dNode::tolerance_angle_f_

protected

Definition at line 166 of file planner_3d.cpp.

◆ tolerance_range_

int planner_cspace::planner_3d::Planner3dNode::tolerance_range_

protected

Definition at line 163 of file planner_3d.cpp.

◆ tolerance_range_f_

double planner_cspace::planner_3d::Planner3dNode::tolerance_range_f_

protected

Definition at line 165 of file planner_3d.cpp.

◆ trigger_plan_by_costmap_update_

bool planner_cspace::planner_3d::Planner3dNode::trigger_plan_by_costmap_update_

protected

Definition at line 193 of file planner_3d.cpp.

◆ unknown_cost_

int planner_cspace::planner_3d::Planner3dNode::unknown_cost_

protected

Definition at line 169 of file planner_3d.cpp.

◆ use_path_with_velocity_

bool planner_cspace::planner_3d::Planner3dNode::use_path_with_velocity_

protected

Definition at line 189 of file planner_3d.cpp.

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

planner_3d.cpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Astar

◆ Planner3DActionServer

◆ Planner3DTolerantActionServer

Member Enumeration Documentation

◆ DiscretePoseStatus

◆ StartPoseStatus

Constructor & Destructor Documentation

◆ Planner3dNode()

Member Function Documentation

◆ applyCostmapUpdate()

◆ buildStartPoses()

◆ cbAction()

◆ cbForget()

◆ cbGoal()

◆ cbMakePlan()

◆ cbMap()

◆ cbMapUpdate()

◆ cbNoMapUpdateTimer()

◆ cbParameter()

◆ cbPreempt()

◆ cbTemporaryEscape()

◆ cbTolerantAction()

◆ clearHysteresis()

◆ createCostEstimCache()

◆ diagnoseStatus()

◆ getSwitchIndex()

◆ grid2MetricPoint()

◆ grid2MetricPose()

◆ isPathFinishing()

◆ makePlan()

◆ metric2Grid()

◆ planPath()

◆ publishCurrentGoal()

◆ publishDebug()

◆ publishEmptyPath()

◆ publishFinishPath()

◆ publishPath()

◆ publishRememberedMap()

◆ publishStartAndGoalMarkers()

◆ relocateDiscretePoseIfNeeded()

◆ relocateDiscretePoseIfNeededImpl()

◆ resetGridAstarModel()

◆ searchAvailablePos()

◆ setGoal()

◆ spin()

◆ updateStart()

◆ updateTemporaryEscapeGoal()

◆ waitUntil()

Member Data Documentation

◆ act_

◆ act_tolerant_

◆ antialias_start_

◆ arrivable_map_

◆ as_

◆ bbf_costmap_

◆ cc_

◆ cm_

◆ cm_base_

◆ cm_hyst_

◆ cm_local_esc_

◆ cm_rough_

◆ cm_rough_base_

◆ cm_updates_

◆ cnt_stuck_

◆ cost_estim_cache_

◆ cost_estim_cache_created_

◆ cost_estim_cache_static_

◆ costmap_watchdog_

◆ diag_updater_

◆ ec_

◆ enable_crowd_mode_

◆ esc_angle_

◆ esc_range_