Public Types
typedef boost::shared_ptr < ::mbf_abstract_core::AbstractPlanner >	Ptr
Public Member Functions
virtual bool	cancel ()=0
	Requests the planner to cancel, e.g. if it takes too much time.
virtual uint32_t	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan, double &cost, std::string &message)=0
	Given a goal pose in the world, compute a plan.
virtual	~AbstractPlanner ()
	Destructor.
Protected Member Functions
	AbstractPlanner ()
	Constructor.

Detailed Description

Definition at line 51 of file abstract_planner.h.

Member Typedef Documentation

Definition at line 54 of file abstract_planner.h.

virtual mbf_abstract_core::AbstractPlanner::~AbstractPlanner ( ) [inline, virtual]

Destructor.

Definition at line 59 of file abstract_planner.h.

mbf_abstract_core::AbstractPlanner::AbstractPlanner ( ) [inline, protected]

Constructor.

Definition at line 100 of file abstract_planner.h.

virtual bool mbf_abstract_core::AbstractPlanner::cancel ( ) [pure virtual]

Requests the planner to cancel, e.g. if it takes too much time.

Returns:: True if a cancel has been successfully requested, false if not implemented.

virtual uint32_t mbf_abstract_core::AbstractPlanner::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance,
		std::vector< geometry_msgs::PoseStamped > &	plan,
		double &	cost,
		std::string &	message
	)		`[pure virtual]`

Given a goal pose in the world, compute a plan.

Parameters:

start	The start pose
goal	The goal pose
tolerance	If the goal is obstructed, how many meters the planner can relax the constraint in x and y before failing
plan	The plan... filled by the planner
cost	The cost for the the plan
message	Optional more detailed outcome as a string

Returns:: Result code as described on GetPath action result: SUCCESS = 0 1..9 are reserved as plugin specific non-error results FAILURE = 50 # Unspecified failure, only used for old, non-mfb_core based plugins CANCELED = 51 INVALID_START = 52 INVALID_GOAL = 53 NO_PATH_FOUND = 54 PAT_EXCEEDED = 55 EMPTY_PATH = 56 TF_ERROR = 57 NOT_INITIALIZED = 58 INVALID_PLUGIN = 59 INTERNAL_ERROR = 60 71..99 are reserved as plugin specific errors

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