carrot_planner.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef CARROT_PLANNER_H_
00038 #define CARROT_PLANNER_H_
00039 #include <ros/ros.h>
00040 #include <costmap_2d/costmap_2d_ros.h>
00041 #include <costmap_2d/costmap_2d.h>
00042 #include <nav_core/base_global_planner.h>
00043 
00044 #include <geometry_msgs/PoseStamped.h>
00045 #include <geometry_msgs/Point.h>
00046 
00047 #include <angles/angles.h>
00048 
00049 #include <tf/tf.h>
00050 #include <tf/transform_datatypes.h>
00051 
00052 #include <base_local_planner/world_model.h>
00053 #include <base_local_planner/costmap_model.h>
00054 
00055 namespace carrot_planner{
00060   class CarrotPlanner : public nav_core::BaseGlobalPlanner {
00061     public:
00065       CarrotPlanner();
00071       CarrotPlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
00072 
00078       void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
00079 
00087       bool makePlan(const geometry_msgs::PoseStamped& start, 
00088           const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan);
00089 
00090     private:
00091       costmap_2d::Costmap2DROS* costmap_ros_;
00092       double step_size_, min_dist_from_robot_;
00093       costmap_2d::Costmap2D costmap_;
00094       base_local_planner::WorldModel* world_model_; 
00095       double inscribed_radius_, circumscribed_radius_, inflation_radius_; 
00096 
00104       double footprintCost(double x_i, double y_i, double theta_i);
00105 
00106       std::vector<geometry_msgs::Point> footprint_spec_; 
00107       bool initialized_;
00108   };
00109 };  
00110 #endif


carrot_planner
Author(s): Eitan Marder-Eppstein, Sachin Chitta
autogenerated on Sat Dec 28 2013 17:14:27