SBPLPlanner2D Class Reference

#include <SBPLPlanner2D.h>

List of all members.

Public Member Functions
const nav_msgs::Path &	getPath () const
void	goalCallback (const geometry_msgs::PoseStampedConstPtr &goal)
	Set goal and plan when start was already set.
void	mapCallback (const nav_msgs::OccupancyGridConstPtr &occupancy_map)
	calls updateMap()
bool	plan (const geometry_msgs::Pose &start, const geometry_msgs::Pose &goal)
	SBPLPlanner2D ()
void	startCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &start)
	Set start and plan when goal was already set.
bool	updateMap (gridmap_2d::GridMap2DPtr map)
	Setup the internal map representation and initialize the SBPL planning environment.
virtual	~SBPLPlanner2D ()
Protected Member Functions
bool	plan ()
void	setPlanner ()
	(re)sets the planner
Protected Attributes
double	allocated_time_
bool	forward_search_
geometry_msgs::Pose	goal_pose_
bool	goal_received_
ros::Subscriber	goal_sub_
double	initial_epsilon_
gridmap_2d::GridMap2DPtr	map_
ros::Subscriber	map_sub_
ros::NodeHandle	nh_
nav_msgs::Path	path_
ros::Publisher	path_pub_
boost::shared_ptr< SBPLPlanner >	planner_
boost::shared_ptr < EnvironmentNAV2D >	planner_environment_
std::string	planner_type_
double	robot_radius_
bool	search_until_first_solution_
geometry_msgs::Pose	start_pose_
bool	start_received_
ros::Subscriber	start_sub_
Static Protected Attributes
static const unsigned char	OBSTACLE_COST = 20

---

Detailed Description

Definition at line 41 of file SBPLPlanner2D.h.

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Constructor & Destructor Documentation

SBPLPlanner2D::SBPLPlanner2D

(

)

Definition at line 31 of file SBPLPlanner2D.cpp.

SBPLPlanner2D::~SBPLPlanner2D

(

)

[virtual]

Definition at line 50 of file SBPLPlanner2D.cpp.

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Member Function Documentation

const nav_msgs::Path& SBPLPlanner2D::getPath

(

)

const [inline]

Definition at line 64 of file SBPLPlanner2D.h.

void SBPLPlanner2D::goalCallback

(

const geometry_msgs::PoseStampedConstPtr &

goal

)

Set goal and plan when start was already set.

Definition at line 54 of file SBPLPlanner2D.cpp.

void SBPLPlanner2D::mapCallback

(

const nav_msgs::OccupancyGridConstPtr &

occupancy_map

)

calls updateMap()

Definition at line 164 of file SBPLPlanner2D.cpp.

bool SBPLPlanner2D::plan	(	const geometry_msgs::Pose &	start,
		const geometry_msgs::Pose &	goal
	)

Plans from start to goal, assuming that the map was set with updateMap(). When successful, you can retrieve the path with getPath().

Parameters:

start
goal

Returns:

success of planning

Definition at line 84 of file SBPLPlanner2D.cpp.

bool SBPLPlanner2D::plan

(

)

[protected]

Definition at line 94 of file SBPLPlanner2D.cpp.

void SBPLPlanner2D::setPlanner

(

)

[protected]

(re)sets the planner

Definition at line 194 of file SBPLPlanner2D.cpp.

void SBPLPlanner2D::startCallback

(

const geometry_msgs::PoseWithCovarianceStampedConstPtr &

start

)

Set start and plan when goal was already set.

Definition at line 69 of file SBPLPlanner2D.cpp.

bool SBPLPlanner2D::updateMap

(

gridmap_2d::GridMap2DPtr

map

)

Setup the internal map representation and initialize the SBPL planning environment.

Definition at line 169 of file SBPLPlanner2D.cpp.

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Member Data Documentation

double SBPLPlanner2D::allocated_time_ [protected]

Definition at line 77 of file SBPLPlanner2D.h.

bool SBPLPlanner2D::forward_search_ [protected]

Definition at line 80 of file SBPLPlanner2D.h.

geometry_msgs::Pose SBPLPlanner2D::goal_pose_ [protected]

Definition at line 84 of file SBPLPlanner2D.h.

bool SBPLPlanner2D::goal_received_ [protected]

Definition at line 83 of file SBPLPlanner2D.h.

ros::Subscriber SBPLPlanner2D::goal_sub_ [protected]

Definition at line 70 of file SBPLPlanner2D.h.

double SBPLPlanner2D::initial_epsilon_ [protected]

Definition at line 78 of file SBPLPlanner2D.h.

gridmap_2d::GridMap2DPtr SBPLPlanner2D::map_ [protected]

Definition at line 74 of file SBPLPlanner2D.h.

ros::Subscriber SBPLPlanner2D::map_sub_ [protected]

Definition at line 70 of file SBPLPlanner2D.h.

ros::NodeHandle SBPLPlanner2D::nh_ [protected]

Definition at line 69 of file SBPLPlanner2D.h.

const unsigned char SBPLPlanner2D::OBSTACLE_COST = 20 [static, protected]

Definition at line 87 of file SBPLPlanner2D.h.

nav_msgs::Path SBPLPlanner2D::path_ [protected]

Definition at line 85 of file SBPLPlanner2D.h.

ros::Publisher SBPLPlanner2D::path_pub_ [protected]

Definition at line 71 of file SBPLPlanner2D.h.

boost::shared_ptr<SBPLPlanner> SBPLPlanner2D::planner_ [protected]

Definition at line 72 of file SBPLPlanner2D.h.

boost::shared_ptr<EnvironmentNAV2D> SBPLPlanner2D::planner_environment_ [protected]

Definition at line 73 of file SBPLPlanner2D.h.

std::string SBPLPlanner2D::planner_type_ [protected]

Definition at line 76 of file SBPLPlanner2D.h.

double SBPLPlanner2D::robot_radius_ [protected]

Definition at line 81 of file SBPLPlanner2D.h.

bool SBPLPlanner2D::search_until_first_solution_ [protected]

Definition at line 79 of file SBPLPlanner2D.h.

geometry_msgs::Pose SBPLPlanner2D::start_pose_ [protected]

Definition at line 84 of file SBPLPlanner2D.h.

bool SBPLPlanner2D::start_received_ [protected]

Definition at line 83 of file SBPLPlanner2D.h.

ros::Subscriber SBPLPlanner2D::start_sub_ [protected]

Definition at line 70 of file SBPLPlanner2D.h.

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

• SBPLPlanner2D.h
• SBPLPlanner2D.cpp