mbf_costmap_core::CostmapController Class Reference

#include <costmap_controller.h>

Inheritance diagram for mbf_costmap_core::CostmapController:

List of all members.

Public Types
typedef boost::shared_ptr < ::mbf_costmap_core::CostmapController >	Ptr
Public Member Functions
virtual bool	cancel ()=0
	Requests the planner to cancel, e.g. if it takes too much time.
virtual uint32_t	computeVelocityCommands (const geometry_msgs::PoseStamped &pose, const geometry_msgs::TwistStamped &velocity, geometry_msgs::TwistStamped &cmd_vel, std::string &message)=0
	Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.
virtual void	initialize (std::string name, TF *tf, costmap_2d::Costmap2DROS *costmap_ros)=0
	Constructs the local planner.
virtual bool	isGoalReached (double xy_tolerance, double yaw_tolerance)=0
	Check if the goal pose has been achieved by the local planner within tolerance limits.
virtual bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &plan)=0
	Set the plan that the local planner is following.
virtual	~CostmapController ()
	Virtual destructor for the interface.
Protected Member Functions
	CostmapController ()

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Detailed Description

Definition at line 53 of file costmap_controller.h.

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Member Typedef Documentation

typedef boost::shared_ptr< ::mbf_costmap_core::CostmapController > mbf_costmap_core::CostmapController::Ptr

Reimplemented from mbf_abstract_core::AbstractController.

Definition at line 56 of file costmap_controller.h.

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Constructor & Destructor Documentation

virtual mbf_costmap_core::CostmapController::~CostmapController

(

)

[inline, virtual]

Virtual destructor for the interface.

Definition at line 124 of file costmap_controller.h.

mbf_costmap_core::CostmapController::CostmapController

(

)

[inline, protected]

Definition at line 127 of file costmap_controller.h.

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Member Function Documentation

virtual bool mbf_costmap_core::CostmapController::cancel

(

)

[pure virtual]

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

Remarks:

New on MBF API

Returns:

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

Implements mbf_abstract_core::AbstractController.

virtual uint32_t mbf_costmap_core::CostmapController::computeVelocityCommands	(	const geometry_msgs::PoseStamped &	pose,
		const geometry_msgs::TwistStamped &	velocity,
		geometry_msgs::TwistStamped &	cmd_vel,
		std::string &	message
	)		[pure virtual]

Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.

Parameters:

pose	the current pose of the robot.
velocity	the current velocity of the robot.
cmd_vel	Will be filled with the velocity command to be passed to the robot base.
message	Optional more detailed outcome as a string

Returns:

Result code as described on ExePath action result: SUCCESS = 0 1..9 are reserved as plugin specific non-error results FAILURE = 100 Unspecified failure, only used for old, non-mfb_core based plugins CANCELED = 101 NO_VALID_CMD = 102 PAT_EXCEEDED = 103 COLLISION = 104 OSCILLATION = 105 ROBOT_STUCK = 106 MISSED_GOAL = 107 MISSED_PATH = 108 BLOCKED_PATH = 109 INVALID_PATH = 110 TF_ERROR = 111 NOT_INITIALIZED = 112 INVALID_PLUGIN = 113 INTERNAL_ERROR = 114 121..149 are reserved as plugin specific errors

Implements mbf_abstract_core::AbstractController.

virtual void mbf_costmap_core::CostmapController::initialize	(	std::string	name,
		TF *	tf,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		[pure virtual]

Constructs the local planner.

Parameters:

name	The name to give this instance of the local planner
tf	A pointer to a transform listener
costmap_ros	The cost map to use for assigning costs to local plans

virtual bool mbf_costmap_core::CostmapController::isGoalReached	(	double	xy_tolerance,
		double	yaw_tolerance
	)		[pure virtual]

Check if the goal pose has been achieved by the local planner within tolerance limits.

Remarks:

New on MBF API

Parameters:

xy_tolerance	Distance tolerance in meters
yaw_tolerance	Heading tolerance in radians

Returns:

True if achieved, false otherwise

Implements mbf_abstract_core::AbstractController.

virtual bool mbf_costmap_core::CostmapController::setPlan

(

const std::vector< geometry_msgs::PoseStamped > &

plan

)

[pure virtual]

Set the plan that the local planner is following.

Parameters:

plan	The plan to pass to the local planner

Returns:

True if the plan was updated successfully, false otherwise

Implements mbf_abstract_core::AbstractController.

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

• costmap_controller.h