Plugin interface for calculating a numerical score (potential) for some subset of the cells in the costmap. More...

Public Member Functions
virtual void	initialize (ros::NodeHandle &private_nh, nav_core2::Costmap::Ptr costmap, CostInterpreter::Ptr cost_interpreter)
	Initialize function.
	PotentialCalculator ()
virtual unsigned int	updatePotentials (PotentialGrid &potential_grid, const geometry_msgs::Pose2D &start, const geometry_msgs::Pose2D &goal)=0
	Main potential calculation function.
virtual	~PotentialCalculator ()
Protected Attributes
CostInterpreter::Ptr	cost_interpreter_

Detailed Description

Plugin interface for calculating a numerical score (potential) for some subset of the cells in the costmap.

The potential should be zero at the goal and grow higher from there. See README for more details

Definition at line 52 of file potential_calculator.h.

Constructor & Destructor Documentation

dlux_global_planner::PotentialCalculator::PotentialCalculator ( ) [inline]

Definition at line 55 of file potential_calculator.h.

virtual dlux_global_planner::PotentialCalculator::~PotentialCalculator ( ) [virtual]

virtual void dlux_global_planner::PotentialCalculator::initialize	(	ros::NodeHandle &	private_nh,
		nav_core2::Costmap::Ptr	costmap,
		CostInterpreter::Ptr	cost_interpreter
	)		`[inline, virtual]`

Initialize function.

Can be overridden to grab parameters or direct access to the costmap

Parameters:

private_nh	NodeHandle to read parameters from
costmap	Pointer to costmap (possibly for tracking changes)
cost_interpreter	CostInterpreter pointer

Definition at line 67 of file potential_calculator.h.

virtual unsigned int dlux_global_planner::PotentialCalculator::updatePotentials	(	PotentialGrid &	potential_grid,
		const geometry_msgs::Pose2D &	start,
		const geometry_msgs::Pose2D &	goal
	)		`[pure virtual]`

Main potential calculation function.

Parameters:

potential_grid	potentials are written into here
start	Start pose, in the same frame as the potential
goal	Goal pose, in the same frame as the potential

Returns:: Number of cells expanded. Used for comparing expansion strategies.

Definition at line 82 of file potential_calculator.h.

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