The CostmapRecoveryExecution binds a local and a global costmap to the AbstractRecoveryExecution and uses the nav_core/CostmapRecovery class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...

#include <costmap_recovery_execution.h>

Inheritance diagram for mbf_costmap_nav::CostmapRecoveryExecution:

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List of all members.

Public Types
typedef boost::shared_ptr < costmap_2d::Costmap2DROS >	CostmapPtr
typedef boost::shared_ptr < CostmapRecoveryExecution >	Ptr
Public Member Functions
	CostmapRecoveryExecution (const std::string name, const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr, const TFPtr &tf_listener_ptr, CostmapPtr &global_costmap, CostmapPtr &local_costmap, const MoveBaseFlexConfig &config, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)
	Constructor.
virtual	~CostmapRecoveryExecution ()
Protected Attributes
CostmapPtr &	global_costmap_
	Shared pointer to the global costmap.
CostmapPtr &	local_costmap_
	Shared pointer to thr local costmap.
Private Member Functions
mbf_abstract_nav::MoveBaseFlexConfig	toAbstract (const MoveBaseFlexConfig &config)

Detailed Description

The CostmapRecoveryExecution binds a local and a global costmap to the AbstractRecoveryExecution and uses the nav_core/CostmapRecovery class as base plugin interface. This class makes move_base_flex compatible to the old move_base.

Definition at line 58 of file costmap_recovery_execution.h.

Member Typedef Documentation

typedef boost::shared_ptr<costmap_2d::Costmap2DROS> mbf_costmap_nav::CostmapRecoveryExecution::CostmapPtr

Definition at line 62 of file costmap_recovery_execution.h.

typedef boost::shared_ptr<CostmapRecoveryExecution> mbf_costmap_nav::CostmapRecoveryExecution::Ptr

Reimplemented from mbf_abstract_nav::AbstractRecoveryExecution.

Definition at line 63 of file costmap_recovery_execution.h.

Constructor & Destructor Documentation

mbf_costmap_nav::CostmapRecoveryExecution::CostmapRecoveryExecution	(	const std::string	name,
		const mbf_costmap_core::CostmapRecovery::Ptr &	recovery_ptr,
		const TFPtr &	tf_listener_ptr,
		CostmapPtr &	global_costmap,
		CostmapPtr &	local_costmap,
		const MoveBaseFlexConfig &	config,
		boost::function< void()>	setup_fn,
		boost::function< void()>	cleanup_fn
	)

Constructor.

Parameters:

tf_listener_ptr	Shared pointer to a common tf listener
global_costmap	Shared pointer to the global costmap.
local_costmap	Shared pointer to the local costmap.

Definition at line 47 of file costmap_recovery_execution.cpp.

mbf_costmap_nav::CostmapRecoveryExecution::~CostmapRecoveryExecution ( ) [virtual]

Destructor

Definition at line 60 of file costmap_recovery_execution.cpp.