Provides an interface for global planners used in navigation. All global planners written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_core-based plugins, providing backward compatibility. More...
#include <costmap_planner.h>
Public Types | |
| typedef boost::shared_ptr < ::mbf_costmap_core::CostmapPlanner > | Ptr |
Public Member Functions | |
| virtual bool | cancel ()=0 |
| Requests the planner to cancel, e.g. if it takes too much time. | |
| virtual void | initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)=0 |
| Initialization function for the CostmapPlanner. | |
| 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 | ~CostmapPlanner () |
| Virtual destructor for the interface. | |
Protected Member Functions | |
| CostmapPlanner () | |
Detailed Description
Provides an interface for global planners used in navigation. All global planners written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_core-based plugins, providing backward compatibility.
Definition at line 52 of file costmap_planner.h.
Member Typedef Documentation
| typedef boost::shared_ptr< ::mbf_costmap_core::CostmapPlanner > mbf_costmap_core::CostmapPlanner::Ptr |
Reimplemented from mbf_abstract_core::AbstractPlanner.
Definition at line 55 of file costmap_planner.h.
Constructor & Destructor Documentation
| virtual mbf_costmap_core::CostmapPlanner::~CostmapPlanner | ( | ) | [inline, virtual] |
Virtual destructor for the interface.
Definition at line 103 of file costmap_planner.h.
| mbf_costmap_core::CostmapPlanner::CostmapPlanner | ( | ) | [inline, protected] |
Definition at line 106 of file costmap_planner.h.
Member Function Documentation
| virtual bool mbf_costmap_core::CostmapPlanner::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::AbstractPlanner.
| virtual void mbf_costmap_core::CostmapPlanner::initialize | ( | std::string | name, |
| costmap_2d::Costmap2DROS * | costmap_ros | ||
| ) | [pure virtual] |
Initialization function for the CostmapPlanner.
- Parameters:
-
name The name of this planner costmap_ros A pointer to the ROS wrapper of the costmap to use for planning
| virtual uint32_t mbf_costmap_core::CostmapPlanner::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
Implements mbf_abstract_core::AbstractPlanner.
The documentation for this class was generated from the following file: