planner_cspace::planner_3d::StartPosePredictor Class Reference

#include <start_pose_predictor.h>

Classes
struct	Config

Public Types
using	Astar = GridAstar< 3, 2 >

Public Member Functions
void	clear ()
const nav_msgs::Path &	getPreservedPath () const
const double	getPreservedPathLength () const
bool	process (const geometry_msgs::Pose &robot_pose, const GridAstar< 3, 2 >::Gridmap< char, 0x40 > &cm, const costmap_cspace_msgs::MapMetaData3D &map_info, const nav_msgs::Path &previous_path_msg, Astar::Vec &result_start_grid)
void	setConfig (const Config &config)

Private Member Functions
bool	buildResults (const trajectory_tracker::Path2D::ConstIterator &expected_start_pose_it, const geometry_msgs::Pose &start_metric, const GridAstar< 3, 2 >::Gridmap< char, 0x40 > &cm, Astar::Vec &start_grid)
trajectory_tracker::Path2D::ConstIterator	getExpectedPose (const std::vector< double > &etas) const
double	getInitialETA (const geometry_msgs::Pose &robot_pose, const trajectory_tracker::Pose2D &initial_path_pose) const
trajectory_tracker::Path2D::ConstIterator	getSwitchBack (const std::vector< double > &etas) const
bool	isGridCenter (const trajectory_tracker::Pose2D &pose) const
bool	isPathColliding (const trajectory_tracker::Path2D::ConstIterator &begin, const trajectory_tracker::Path2D::ConstIterator &end, const GridAstar< 3, 2 >::Gridmap< char, 0x40 > &cm)
bool	removeAlreadyPassed (const geometry_msgs::Pose &robot_pose)

Private Attributes
Config	config_
costmap_cspace_msgs::MapMetaData3D	map_info_
nav_msgs::Path	preserved_path_
double	preserved_path_length_ = 0.0
trajectory_tracker::Path2D	previous_path_2d_

Detailed Description

Definition at line 47 of file start_pose_predictor.h.

Member Typedef Documentation

Astar

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

Definition at line 50 of file start_pose_predictor.h.

Member Function Documentation

buildResults()

bool planner_cspace::planner_3d::StartPosePredictor::buildResults ( const trajectory_tracker::Path2D::ConstIterator &  expected_start_pose_it, const geometry_msgs::Pose &  start_metric, const GridAstar< 3, 2 >::Gridmap< char, 0x40 > &  cm, Astar::Vec &  start_grid  )

private

Definition at line 132 of file start_pose_predictor.cpp.

clear()

void planner_cspace::planner_3d::StartPosePredictor::clear

(

)

Definition at line 76 of file start_pose_predictor.cpp.

getExpectedPose()

trajectory_tracker::Path2D::ConstIterator planner_cspace::planner_3d::StartPosePredictor::getExpectedPose ( const std::vector< double > &  etas ) const

private

Definition at line 230 of file start_pose_predictor.cpp.

getInitialETA()

double planner_cspace::planner_3d::StartPosePredictor::getInitialETA ( const geometry_msgs::Pose &  robot_pose, const trajectory_tracker::Pose2D &  initial_path_pose  ) const

private

Definition at line 122 of file start_pose_predictor.cpp.

getPreservedPath()

const nav_msgs::Path& planner_cspace::planner_3d::StartPosePredictor::getPreservedPath ( ) const

inline

Definition at line 71 of file start_pose_predictor.h.

getPreservedPathLength()

const double planner_cspace::planner_3d::StartPosePredictor::getPreservedPathLength ( ) const

inline

Definition at line 75 of file start_pose_predictor.h.

getSwitchBack()

trajectory_tracker::Path2D::ConstIterator planner_cspace::planner_3d::StartPosePredictor::getSwitchBack ( const std::vector< double > &  etas ) const

private

Definition at line 194 of file start_pose_predictor.cpp.

isGridCenter()

bool planner_cspace::planner_3d::StartPosePredictor::isGridCenter ( const trajectory_tracker::Pose2D &  pose ) const

private

Definition at line 165 of file start_pose_predictor.cpp.

isPathColliding()

bool planner_cspace::planner_3d::StartPosePredictor::isPathColliding ( const trajectory_tracker::Path2D::ConstIterator &  begin, const trajectory_tracker::Path2D::ConstIterator &  end, const GridAstar< 3, 2 >::Gridmap< char, 0x40 > &  cm  )

private

Definition at line 176 of file start_pose_predictor.cpp.

process()

bool planner_cspace::planner_3d::StartPosePredictor::process	(	const geometry_msgs::Pose &	robot_pose,
		const GridAstar< 3, 2 >::Gridmap< char, 0x40 > &	cm,
		const costmap_cspace_msgs::MapMetaData3D &	map_info,
		const nav_msgs::Path &	previous_path_msg,
		Astar::Vec &	result_start_grid
	)

Definition at line 42 of file start_pose_predictor.cpp.

removeAlreadyPassed()

bool planner_cspace::planner_3d::StartPosePredictor::removeAlreadyPassed ( const geometry_msgs::Pose &  robot_pose )

private

Definition at line 83 of file start_pose_predictor.cpp.

setConfig()

void planner_cspace::planner_3d::StartPosePredictor::setConfig ( const Config &  config )

inline

Definition at line 60 of file start_pose_predictor.h.

Member Data Documentation

config_

Config planner_cspace::planner_3d::StartPosePredictor::config_

private

Definition at line 95 of file start_pose_predictor.h.

map_info_

costmap_cspace_msgs::MapMetaData3D planner_cspace::planner_3d::StartPosePredictor::map_info_

private

Definition at line 96 of file start_pose_predictor.h.

preserved_path_

nav_msgs::Path planner_cspace::planner_3d::StartPosePredictor::preserved_path_

private

Definition at line 98 of file start_pose_predictor.h.

preserved_path_length_

double planner_cspace::planner_3d::StartPosePredictor::preserved_path_length_ = 0.0

private

Definition at line 99 of file start_pose_predictor.h.

previous_path_2d_

trajectory_tracker::Path2D planner_cspace::planner_3d::StartPosePredictor::previous_path_2d_

private

Definition at line 97 of file start_pose_predictor.h.

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

• start_pose_predictor.h
• start_pose_predictor.cpp