#include <wrapper_local_planner.h>
Public Member Functions | |
| virtual bool | cancel () |
| Requests the planner to cancel, e.g. if it takes too much time. | |
| virtual uint32_t | computeVelocityCommands (const geometry_msgs::PoseStamped &robot_pose, const geometry_msgs::TwistStamped &robot_velocity, geometry_msgs::TwistStamped &cmd_vel, std::string &message) |
| 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) |
| Constructs the local planner. | |
| virtual bool | isGoalReached () |
| Check if the goal pose has been achieved by the local planner. | |
| virtual bool | isGoalReached (double xy_tolerance, double yaw_tolerance) |
| 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) |
| Set the plan that the local planner is following. | |
| WrapperLocalPlanner (boost::shared_ptr< nav_core::BaseLocalPlanner >plugin) | |
| Public constructor used for handling a nav_core-based plugin. | |
| virtual | ~WrapperLocalPlanner () |
| Virtual destructor for the interface. | |
Private Attributes | |
| boost::shared_ptr < nav_core::BaseLocalPlanner > | nav_core_plugin_ |
Detailed Description
Definition at line 56 of file wrapper_local_planner.h.
Constructor & Destructor Documentation
| mbf_nav_core_wrapper::WrapperLocalPlanner::WrapperLocalPlanner | ( | boost::shared_ptr< nav_core::BaseLocalPlanner > | plugin | ) |
Public constructor used for handling a nav_core-based plugin.
- Parameters:
-
plugin Backward compatible plugin
Definition at line 84 of file wrapper_local_planner.cpp.
Virtual destructor for the interface.
Definition at line 88 of file wrapper_local_planner.cpp.
Member Function Documentation
| bool mbf_nav_core_wrapper::WrapperLocalPlanner::cancel | ( | ) | [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_costmap_core::CostmapController.
Definition at line 72 of file wrapper_local_planner.cpp.
| uint32_t mbf_nav_core_wrapper::WrapperLocalPlanner::computeVelocityCommands | ( | const geometry_msgs::PoseStamped & | robot_pose, |
| const geometry_msgs::TwistStamped & | robot_velocity, | ||
| geometry_msgs::TwistStamped & | cmd_vel, | ||
| std::string & | message | ||
| ) | [virtual] |
Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base.
- Remarks:
- New on MBF API; replaces version without output code and message
- Parameters:
-
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, as this is a wrapper to the nav_core, only 0 (SUCCESS) and 100 (FAILURE) are supported.
Implements mbf_costmap_core::CostmapController.
Definition at line 46 of file wrapper_local_planner.cpp.
| void mbf_nav_core_wrapper::WrapperLocalPlanner::initialize | ( | std::string | name, |
| TF * | tf, | ||
| costmap_2d::Costmap2DROS * | costmap_ros | ||
| ) | [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
Implements mbf_costmap_core::CostmapController.
Definition at line 77 of file wrapper_local_planner.cpp.
| bool mbf_nav_core_wrapper::WrapperLocalPlanner::isGoalReached | ( | ) | [virtual] |
Check if the goal pose has been achieved by the local planner.
- Returns:
- True if achieved, false otherwise
Definition at line 57 of file wrapper_local_planner.cpp.
| bool mbf_nav_core_wrapper::WrapperLocalPlanner::isGoalReached | ( | double | xy_tolerance, |
| double | yaw_tolerance | ||
| ) | [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_costmap_core::CostmapController.
Definition at line 62 of file wrapper_local_planner.cpp.
| bool mbf_nav_core_wrapper::WrapperLocalPlanner::setPlan | ( | const std::vector< geometry_msgs::PoseStamped > & | plan | ) | [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_costmap_core::CostmapController.
Definition at line 67 of file wrapper_local_planner.cpp.
Member Data Documentation
boost::shared_ptr< nav_core::BaseLocalPlanner > mbf_nav_core_wrapper::WrapperLocalPlanner::nav_core_plugin_ [private] |
Definition at line 123 of file wrapper_local_planner.h.
The documentation for this class was generated from the following files: