nav_core2::GlobalPlanner Class Reference

Provides an interface for global planners used in navigation. More...

#include <global_planner.h>

List of all members.

Public Member Functions
virtual void	initialize (const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, Costmap::Ptr costmap)=0
	Initialization function for the GlobalPlanner.
virtual nav_2d_msgs::Path2D	makePlan (const nav_2d_msgs::Pose2DStamped &start, const nav_2d_msgs::Pose2DStamped &goal)=0
	Run the global planner to make a plan starting at the start and ending at the goal.
virtual	~GlobalPlanner ()
	Virtual Destructor.

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Detailed Description

Provides an interface for global planners used in navigation.

Definition at line 50 of file global_planner.h.

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Constructor & Destructor Documentation

virtual nav_core2::GlobalPlanner::~GlobalPlanner

(

)

[inline, virtual]

Virtual Destructor.

Definition at line 56 of file global_planner.h.

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Member Function Documentation

virtual void nav_core2::GlobalPlanner::initialize	(	const ros::NodeHandle &	parent,
		const std::string &	name,
		TFListenerPtr	tf,
		Costmap::Ptr	costmap
	)		[pure virtual]

Initialization function for the GlobalPlanner.

ROS parameters/topics are expected to be in the parent/name namespace. It is suggested that all NodeHandles in the planner use the parent NodeHandle's callback queue.

Parameters:

parent	NodeHandle to derive other NodeHandles from
name	The name of this planner
tf	A pointer to a transform listener
costmap	A pointer to the costmap

virtual nav_2d_msgs::Path2D nav_core2::GlobalPlanner::makePlan	(	const nav_2d_msgs::Pose2DStamped &	start,
		const nav_2d_msgs::Pose2DStamped &	goal
	)		[pure virtual]

Run the global planner to make a plan starting at the start and ending at the goal.

Parameters:

start	The starting pose of the robot
goal	The goal pose of the robot

Returns:

The sequence of poses to get from start to goal, if any

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The documentation for this class was generated from the following file:

• global_planner.h