Actionlib server for footstep planning. More...

#include <grid_path_planner.h>

Public Types
typedef PerceptionGridGraph	Graph
typedef PerceptionGridMap	GridMap
typedef GridAStarSolver < PerceptionGridGraph >	Solver
Public Member Functions
	GridPathPlanner (ros::NodeHandle &nh)
Protected Member Functions
virtual void	buildGraph ()
virtual bool	collisionBoundingBoxInfoService (jsk_footstep_planner::CollisionBoundingBoxInfo::Request &req, jsk_footstep_planner::CollisionBoundingBoxInfo::Response &res)
virtual void	gridToPoint (const int ix, const int iy, Eigen::Vector3f &p)
double	heuristicDistance (SolverNode< PerceptionGridGraph::State, PerceptionGridGraph >::Ptr node, PerceptionGridGraph::Ptr graph)
virtual void	obstacleCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual void	planCB (const jsk_footstep_msgs::PlanFootstepsGoal::ConstPtr &goal)
virtual void	pointcloudCallback (const sensor_msgs::PointCloud2::ConstPtr &msg)
virtual void	pointToGrid (const Eigen::Vector3f &p, int &ix, int &iy)
virtual void	publishMarker ()
virtual void	publishPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, ros::Publisher &pub, const std_msgs::Header &header)
virtual void	publishText (ros::Publisher &pub, const std::string &text, GridPlanningStatus status)
virtual bool	updateCost (GridState::Ptr ptr)
Protected Attributes
actionlib::SimpleActionServer < jsk_footstep_msgs::PlanFootstepsAction >	as_
Eigen::Affine3f	collision_bbox_offset_
Eigen::Vector3f	collision_bbox_size_
double	collision_circle_max_height_
double	collision_circle_min_height_
double	collision_circle_radius_
PerceptionGridGraph::Ptr	graph_
PerceptionGridMap::Ptr	gridmap_
Eigen::Vector3f	map_offset_
double	map_resolution_
boost::mutex	mutex_
pcl::PointCloud< pcl::PointXYZ > ::Ptr	obstacle_points_
std::string	obstacle_points_frame_id_
pcl::KdTreeFLANN < pcl::PointXYZ >::Ptr	obstacle_tree_
pcl::PointCloud < pcl::PointNormal >::Ptr	plane_points_
std::string	plane_points_frame_id_
pcl::KdTreeFLANN < pcl::PointNormal >::Ptr	plane_tree_
ros::Publisher	pub_close_list_
ros::Publisher	pub_marker_
ros::Publisher	pub_open_list_
ros::Publisher	pub_text_
jsk_footstep_msgs::PlanFootstepsResult	result_
ros::ServiceServer	srv_collision_bounding_box_info_
ros::Subscriber	sub_obstacle_points_
ros::Subscriber	sub_plane_points_
bool	use_obstacle_points_
bool	use_plane_points_

Detailed Description

Actionlib server for footstep planning.

Definition at line 37 of file grid_path_planner.h.

Member Typedef Documentation

typedef PerceptionGridGraph jsk_footstep_planner::GridPathPlanner::Graph

Definition at line 40 of file grid_path_planner.h.

typedef PerceptionGridMap jsk_footstep_planner::GridPathPlanner::GridMap

Definition at line 41 of file grid_path_planner.h.

typedef GridAStarSolver<PerceptionGridGraph> jsk_footstep_planner::GridPathPlanner::Solver

Definition at line 42 of file grid_path_planner.h.

Constructor & Destructor Documentation

jsk_footstep_planner::GridPathPlanner::GridPathPlanner ( ros::NodeHandle & nh )

Definition at line 15 of file grid_path_planner.cpp.

Member Function Documentation

void jsk_footstep_planner::GridPathPlanner::buildGraph ( ) [protected, virtual]

Definition at line 55 of file grid_path_planner.cpp.

bool jsk_footstep_planner::GridPathPlanner::collisionBoundingBoxInfoService	(	jsk_footstep_planner::CollisionBoundingBoxInfo::Request &	req,
		jsk_footstep_planner::CollisionBoundingBoxInfo::Response &	res
	)		`[protected, virtual]`

Definition at line 100 of file grid_path_planner.cpp.

virtual void jsk_footstep_planner::GridPathPlanner::gridToPoint	(	const int	ix,
		const int	iy,
		Eigen::Vector3f &	p
	)		`[inline, protected, virtual]`

Definition at line 75 of file grid_path_planner.h.

double jsk_footstep_planner::GridPathPlanner::heuristicDistance	(	SolverNode< PerceptionGridGraph::State, PerceptionGridGraph >::Ptr	node,
		PerceptionGridGraph::Ptr	graph
	)		`[inline, protected]`

Definition at line 89 of file grid_path_planner.h.

void jsk_footstep_planner::GridPathPlanner::obstacleCallback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [protected, virtual]

Definition at line 80 of file grid_path_planner.cpp.

void jsk_footstep_planner::GridPathPlanner::planCB ( const jsk_footstep_msgs::PlanFootstepsGoal::ConstPtr & goal ) [protected, virtual]

Definition at line 153 of file grid_path_planner.cpp.

void jsk_footstep_planner::GridPathPlanner::pointcloudCallback ( const sensor_msgs::PointCloud2::ConstPtr & msg ) [protected, virtual]

Definition at line 90 of file grid_path_planner.cpp.

virtual void jsk_footstep_planner::GridPathPlanner::pointToGrid	(	const Eigen::Vector3f &	p,
		int &	ix,
		int &	iy
	)		`[inline, protected, virtual]`

Definition at line 81 of file grid_path_planner.h.

void jsk_footstep_planner::GridPathPlanner::publishMarker ( ) [protected, virtual]

Definition at line 393 of file grid_path_planner.cpp.

void jsk_footstep_planner::GridPathPlanner::publishPointCloud	(	const pcl::PointCloud< pcl::PointXYZRGB > &	cloud,
		ros::Publisher &	pub,
		const std_msgs::Header &	header
	)		`[protected, virtual]`

Definition at line 325 of file grid_path_planner.cpp.

void jsk_footstep_planner::GridPathPlanner::publishText	(	ros::Publisher &	pub,
		const std::string &	text,
		GridPlanningStatus	status
	)		`[protected, virtual]`