Provides an interface for recovery behaviors used in navigation. All recovery behaviors written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_corebased plugins, providing backward compatibility. More...
#include <costmap_recovery.h>
Public Types | |
| typedef boost::shared_ptr < ::mbf_costmap_core::CostmapRecovery > | 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, TF *tf, costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap)=0 |
| Initialization function for the CostmapRecovery. | |
| virtual uint32_t | runBehavior (std::string &message)=0 |
| Runs the CostmapRecovery. | |
| virtual | ~CostmapRecovery () |
| Virtual destructor for the interface. | |
Protected Member Functions | |
| CostmapRecovery () | |
Detailed Description
Provides an interface for recovery behaviors used in navigation. All recovery behaviors written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_corebased plugins, providing backward compatibility.
Definition at line 54 of file costmap_recovery.h.
Member Typedef Documentation
| typedef boost::shared_ptr< ::mbf_costmap_core::CostmapRecovery> mbf_costmap_core::CostmapRecovery::Ptr |
Reimplemented from mbf_abstract_core::AbstractRecovery.
Definition at line 57 of file costmap_recovery.h.
Constructor & Destructor Documentation
| virtual mbf_costmap_core::CostmapRecovery::~CostmapRecovery | ( | ) | [inline, virtual] |
Virtual destructor for the interface.
Definition at line 86 of file costmap_recovery.h.
| mbf_costmap_core::CostmapRecovery::CostmapRecovery | ( | ) | [inline, protected] |
Definition at line 89 of file costmap_recovery.h.
Member Function Documentation
| virtual bool mbf_costmap_core::CostmapRecovery::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::AbstractRecovery.
| virtual void mbf_costmap_core::CostmapRecovery::initialize | ( | std::string | name, |
| TF * | tf, | ||
| costmap_2d::Costmap2DROS * | global_costmap, | ||
| costmap_2d::Costmap2DROS * | local_costmap | ||
| ) | [pure virtual] |
Initialization function for the CostmapRecovery.
- Parameters:
-
tf A pointer to a transform listener global_costmap A pointer to the global_costmap used by the navigation stack local_costmap A pointer to the local_costmap used by the navigation stack
| virtual uint32_t mbf_costmap_core::CostmapRecovery::runBehavior | ( | std::string & | message | ) | [pure virtual] |
Runs the CostmapRecovery.
- Parameters:
-
message The recovery behavior could set, the message should correspond to the return value
- Returns:
- An outcome which will be hand over to the action result.
Implements mbf_abstract_core::AbstractRecovery.
The documentation for this class was generated from the following file: