The AbstractPlannerExecution class loads and binds the global planner plugin. It contains a thread running the plugin in a cycle to plan and re-plan. An internal state is saved and will be pulled by the server, which controls the global planner execution. Due to a state change it wakes up all threads connected to the condition variable. More...

#include <abstract_planner_execution.h>

Inheritance diagram for mbf_abstract_nav::AbstractPlannerExecution:

[legend]

List of all members.

Public Types
enum	PlanningState { INITIALIZED, STARTED, PLANNING, FOUND_PLAN, MAX_RETRIES, PAT_EXCEEDED, NO_PLAN_FOUND, CANCELED, STOPPED, INTERNAL_ERROR }
	Internal states. More...
typedef boost::shared_ptr < AbstractPlannerExecution >	Ptr
	shared pointer type to the planner execution.
Public Member Functions
	AbstractPlannerExecution (const std::string name, const mbf_abstract_core::AbstractPlanner::Ptr planner_ptr, const MoveBaseFlexConfig &config, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)
	Constructor.
virtual bool	cancel ()
	Cancel the planner execution. This calls the cancel method of the planner plugin. This could be useful if the computation takes too much time.
double	getCost ()
	Gets computed costs.
double	getFrequency ()
	Gets planning frequency.
ros::Time	getLastValidPlanTime ()
	Returns the last time a valid plan was available.
std::vector < geometry_msgs::PoseStamped >	getPlan ()
	Returns a new plan, if one is available.
PlanningState	getState ()
	Returns the current internal state.
bool	isPatienceExceeded ()
	Checks whether the patience was exceeded.
void	reconfigure (const MoveBaseFlexConfig &config)
	Is called by the server thread to reconfigure the controller execution, if a user uses dynamic reconfigure to reconfigure the current state.
void	setNewGoal (const geometry_msgs::PoseStamped &goal, double tolerance)
	Sets a new goal pose for the planner execution.
void	setNewStart (const geometry_msgs::PoseStamped &start)
	Sets a new start pose for the planner execution.
void	setNewStartAndGoal (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance)
	Sets a new star and goal pose for the planner execution.
bool	start (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance)
	Starts the planner execution thread with the given parameters.
virtual	~AbstractPlannerExecution ()
	Destructor.
Protected Member Functions
virtual void	run ()
	The main run method, a thread will execute this method. It contains the main planner execution loop.
Protected Attributes
mbf_abstract_core::AbstractPlanner::Ptr	planner_
	the local planer to calculate the velocity command
std::string	plugin_name_
	the name of the loaded planner plugin
Private Member Functions
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)
	calls the planner plugin to make a plan from the start pose to the goal pose with the given tolerance, if a goal tolerance is enabled in the planner plugin.
void	setState (PlanningState state)
	Sets the internal state, thread communication safe.
Private Attributes
boost::mutex	configuration_mutex_
	dynamic reconfigure mutex for a thread safe communication
double	cost_
	current global plan cost
double	frequency_
	planning cycle frequency (used only when running full navigation; we store here for grouping parameters nicely)
std::string	global_frame_
	the global frame in which the planner needs to plan
geometry_msgs::PoseStamped	goal_
	the current goal pose used for planning
boost::mutex	goal_start_mtx_
	mutex to handle safe thread communication for the goal and start pose.
bool	has_new_goal_
	true, if a new goal pose has been set, until it is used.
bool	has_new_start_
	true, if a new start pose has been set, until it is used.
ros::Time	last_call_start_time_
	the last call start time, updated each cycle.
ros::Time	last_valid_plan_time_
	the last time a valid plan has been computed.
int	max_retries_
	planning max retries
ros::Duration	patience_
	planning patience duration time
std::vector < geometry_msgs::PoseStamped >	plan_
	current global plan
boost::mutex	plan_mtx_
	mutex to handle safe thread communication for the plan and plan-costs
bool	planning_
	main cycle variable of the execution loop
boost::mutex	planning_mtx_
	mutex to handle safe thread communication for the planning_ flag.
std::string	robot_frame_
	robot frame used for computing the current robot pose
geometry_msgs::PoseStamped	start_
	the current start pose used for planning
PlanningState	state_
	current internal state
boost::mutex	state_mtx_
	mutex to handle safe thread communication for the current state
const TFPtr	tf_listener_ptr_
	shared pointer to a common TransformListener
double	tolerance_
	optional goal tolerance, in meters

Detailed Description

The AbstractPlannerExecution class loads and binds the global planner plugin. It contains a thread running the plugin in a cycle to plan and re-plan. An internal state is saved and will be pulled by the server, which controls the global planner execution. Due to a state change it wakes up all threads connected to the condition variable.

Definition at line 76 of file abstract_planner_execution.h.

Member Typedef Documentation

typedef boost::shared_ptr<AbstractPlannerExecution > mbf_abstract_nav::AbstractPlannerExecution::Ptr

shared pointer type to the planner execution.

Definition at line 81 of file abstract_planner_execution.h.

Member Enumeration Documentation

enum mbf_abstract_nav::AbstractPlannerExecution::PlanningState

Internal states.

Enumerator:

INITIALIZED	Planner initialized.
STARTED	Planner started.
PLANNING	Executing the plugin.
FOUND_PLAN	Found a valid plan.
MAX_RETRIES	Exceeded the maximum number of retries without a valid command.
PAT_EXCEEDED	Exceeded the patience time without a valid command.
NO_PLAN_FOUND	No plan has been found (MAX_RETRIES and PAT_EXCEEDED are 0).
CANCELED	The planner has been canceled.
STOPPED	The planner has been stopped.
INTERNAL_ERROR	An internal error occurred.

Definition at line 120 of file abstract_planner_execution.h.

Constructor & Destructor Documentation

mbf_abstract_nav::AbstractPlannerExecution::AbstractPlannerExecution	(	const std::string	name,
		const mbf_abstract_core::AbstractPlanner::Ptr	planner_ptr,
		const MoveBaseFlexConfig &	config,
		boost::function< void()>	setup_fn,
		boost::function< void()>	cleanup_fn
	)

Constructor.

Parameters:

condition Thread sleep condition variable, to wake up connected threads

Definition at line 47 of file abstract_planner_execution.cpp.

mbf_abstract_nav::AbstractPlannerExecution::~AbstractPlannerExecution ( ) [virtual]

Destructor.

Definition at line 66 of file abstract_planner_execution.cpp.

Member Function Documentation

bool mbf_abstract_nav::AbstractPlannerExecution::cancel ( ) [virtual]

Cancel the planner execution. This calls the cancel method of the planner plugin. This could be useful if the computation takes too much time.

Returns:: true, if the planner plugin tries / tried to cancel the planning step.

Implements mbf_abstract_nav::AbstractExecutionBase.

Definition at line 193 of file abstract_planner_execution.cpp.

double mbf_abstract_nav::AbstractPlannerExecution::getCost ( )

Gets computed costs.

Returns:: The costs of the computed path

Definition at line 71 of file abstract_planner_execution.cpp.

double mbf_abstract_nav::AbstractPlannerExecution::getFrequency ( ) [inline]

Gets planning frequency.

Definition at line 143 of file abstract_planner_execution.h.

ros::Time mbf_abstract_nav::AbstractPlannerExecution::getLastValidPlanTime ( )

Returns the last time a valid plan was available.

Returns:: time, the last valid plan was available.

Definition at line 118 of file abstract_planner_execution.cpp.

std::vector< geometry_msgs::PoseStamped > mbf_abstract_nav::AbstractPlannerExecution::getPlan ( )

Returns a new plan, if one is available.

Parameters:

plan	A reference to a plan, which then will be filled.
cost	A reference to the costs, which then will be filled.

Definition at line 131 of file abstract_planner_execution.cpp.

AbstractPlannerExecution::PlanningState mbf_abstract_nav::AbstractPlannerExecution::getState ( )

Returns the current internal state.

Returns:: the current internal state

Definition at line 105 of file abstract_planner_execution.cpp.

bool mbf_abstract_nav::AbstractPlannerExecution::isPatienceExceeded ( )

Checks whether the patience was exceeded.

Returns:: true, if the patience duration was exceeded.

Definition at line 125 of file abstract_planner_execution.cpp.

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

calls the planner plugin to make a plan from the start pose to the goal pose with the given tolerance, if a goal tolerance is enabled in the planner plugin.

Parameters:

start	The start pose for planning
goal	The goal pose for planning
tolerance	The goal tolerance
plan	The computed plan by the plugin
cost	The computed costs for the corresponding plan
message	An optional message which should correspond with the returned outcome

Returns:: An outcome number, see also the action definition in the GetPath.action file

Definition at line 208 of file abstract_planner_execution.cpp.

void mbf_abstract_nav::AbstractPlannerExecution::reconfigure ( const MoveBaseFlexConfig & config )

Is called by the server thread to reconfigure the controller execution, if a user uses dynamic reconfigure to reconfigure the current state.

Parameters:

config MoveBaseFlexConfig object

Definition at line 92 of file abstract_planner_execution.cpp.

void mbf_abstract_nav::AbstractPlannerExecution::run ( ) [protected, virtual]

The main run method, a thread will execute this method. It contains the main planner execution loop.

Implements mbf_abstract_nav::AbstractExecutionBase.

Definition at line 218 of file abstract_planner_execution.cpp.

void mbf_abstract_nav::AbstractPlannerExecution::setNewGoal	(	const geometry_msgs::PoseStamped &	goal,
		double	tolerance
	)

Sets a new goal pose for the planner execution.

Parameters:

goal	the new goal pose
tolerance	tolerance to the goal for the planning

Definition at line 139 of file abstract_planner_execution.cpp.

void mbf_abstract_nav::AbstractPlannerExecution::setNewStart ( const geometry_msgs::PoseStamped & start )

Sets a new start pose for the planner execution.

Parameters:

start new start pose

Definition at line 148 of file abstract_planner_execution.cpp.

void mbf_abstract_nav::AbstractPlannerExecution::setNewStartAndGoal	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance
	)

Sets a new star and goal pose for the planner execution.

Parameters:

start	new start pose
goal	new goal pose
tolerance	tolerance to the new goal for the planning

Definition at line 156 of file abstract_planner_execution.cpp.

void mbf_abstract_nav::AbstractPlannerExecution::setState ( PlanningState state ) [private]

Sets the internal state, thread communication safe.

Parameters:

state the current state

Definition at line 111 of file abstract_planner_execution.cpp.

bool mbf_abstract_nav::AbstractPlannerExecution::start	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance
	)