00001 /* 00002 * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions 00006 * are met: 00007 * 00008 * 1. Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * 00011 * 2. Redistributions in binary form must reproduce the above 00012 * copyright notice, this list of conditions and the following 00013 * disclaimer in the documentation and/or other materials provided 00014 * with the distribution. 00015 * 00016 * 3. Neither the name of the copyright holder nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without specific prior written permission. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00021 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00022 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 * 00033 * costmap_recovery_execution.cpp 00034 * 00035 * authors: 00036 * Sebastian Pütz <spuetz@uni-osnabrueck.de> 00037 * Jorge Santos Simón <santos@magazino.eu> 00038 * 00039 */ 00040 #include <nav_core/recovery_behavior.h> 00041 #include "nav_core_wrapper/wrapper_recovery_behavior.h" 00042 #include "mbf_costmap_nav/costmap_recovery_execution.h" 00043 00044 namespace mbf_costmap_nav 00045 { 00046 00047 CostmapRecoveryExecution::CostmapRecoveryExecution( 00048 const std::string name, 00049 const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr, 00050 const TFPtr &tf_listener_ptr, 00051 CostmapPtr &global_costmap, CostmapPtr &local_costmap, 00052 const MoveBaseFlexConfig &config, 00053 boost::function<void()> setup_fn, 00054 boost::function<void()> cleanup_fn) 00055 : AbstractRecoveryExecution(name, recovery_ptr, tf_listener_ptr, toAbstract(config), setup_fn, cleanup_fn), 00056 global_costmap_(global_costmap), local_costmap_(local_costmap) 00057 { 00058 } 00059 00060 CostmapRecoveryExecution::~CostmapRecoveryExecution() 00061 { 00062 } 00063 00064 mbf_abstract_nav::MoveBaseFlexConfig CostmapRecoveryExecution::toAbstract(const MoveBaseFlexConfig &config) 00065 { 00066 // copy the recovery-related abstract configuration common to all MBF-based navigation 00067 mbf_abstract_nav::MoveBaseFlexConfig abstract_config; 00068 abstract_config.recovery_enabled = config.recovery_enabled; 00069 abstract_config.recovery_patience = config.recovery_patience; 00070 return abstract_config; 00071 } 00072 00073 } /* namespace mbf_costmap_nav */