#include "planner_modules_pr2/navstack_module.h"
#include <ros/ros.h>
#include <nav_msgs/GetPlan.h>
#include <geometry_msgs/PoseStamped.h>
#include <angles/angles.h>
#include <map>
#include <utility>
#include <boost/foreach.hpp>
#include <sys/times.h>
#include <tf/tf.h>
#include <tf/transform_listener.h>

Include dependency graph for navstack_module.cpp:

Defines
#define	forEach BOOST_FOREACH
Functions
double	callPlanningService (nav_msgs::GetPlan &srv, const string &startLocationName, const string &goalLocationName, bool &callSuccessful)
	Return the cost of the plan.
string	computePathCacheKey (const string &startLocation, const string &goalLocation, const geometry_msgs::Pose &startPose, const geometry_msgs::Pose &goalPose)
bool	fillPathRequest (const ParameterList &parameterList, numericalFluentCallbackType numericalFluentCallback, nav_msgs::GetPlan::Request &request)
double	getPlanCost (const std::vector< geometry_msgs::PoseStamped > &plan)
void	navstack_init (int argc, char **argv)
double	pathCost (const ParameterList &parameterList, predicateCallbackType predicateCallback, numericalFluentCallbackType numericalFluentCallback, int relaxed)
	VERIFY_CONDITIONCHECKER_DEF (pathCost)
Variables
ros::ServiceClient	g_GetPlan
double	g_GoalTolerance = 0.5
ros::NodeHandle *	g_NodeHandle = NULL
ModuleParamCacheDouble	g_PathCostCache
double	g_RotSpeed = angles::from_degrees(30)
double	g_TransSpeed = 0.3
	speed values for computing the estimated time as cost of a path
std::string	g_WorldFrame
	Plan requests are issued using this frame - so the poses from the planner are given in this frame (e.g. map)

Define Documentation

#define forEach BOOST_FOREACH

Definition at line 14 of file navstack_module.cpp.

Function Documentation

double callPlanningService	(	nav_msgs::GetPlan &	srv,
		const string &	startLocationName,
		const string &	goalLocationName,
		bool &	callFailure
	)

Return the cost of the plan.

Parameters:

[out] callFailure is set to true, if there was some failure during the call, i.e. the resulting INFINITE_COST does not represent necessarily the impossibility of a path.

Definition at line 222 of file navstack_module.cpp.

string computePathCacheKey	(	const string &	startLocation,
		const string &	goalLocation,
		const geometry_msgs::Pose &	startPose,
		const geometry_msgs::Pose &	goalPose
	)

Definition at line 40 of file navstack_module.cpp.

bool fillPathRequest	(	const ParameterList &	parameterList,
		numericalFluentCallbackType	numericalFluentCallback,
		nav_msgs::GetPlan::Request &	request
	)

Definition at line 145 of file navstack_module.cpp.

double getPlanCost ( const std::vector< geometry_msgs::PoseStamped > & plan )

Definition at line 199 of file navstack_module.cpp.

void navstack_init	(	int	argc,
		char **	argv
	)

Definition at line 56 of file navstack_module.cpp.

double pathCost	(	const ParameterList &	parameterList,
		predicateCallbackType	predicateCallback,
		numericalFluentCallbackType	numericalFluentCallback,
		int	relaxed
	)