#include <planner_core.h>

Inheritance diagram for voronoi_planner::VoronoiPlanner:

Public Member Functions
bool	findPath (std::vector< std::pair< float, float > > path, int init_x, int init_y, int goal_x, int goal_y, DynamicVoronoi voronoi, bool check_is_voronoi_cell, bool stop_at_voronoi)
void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the PlannerCore object.
void	initialize (std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)
bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Given a goal pose in the world, compute a plan.
bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan)
	Given a goal pose in the world, compute a plan.
bool	makePlanService (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp)
void	publishPlan (const std::vector< geometry_msgs::PoseStamped > &path)
	Publish a path for visualization purposes.
void	publishVoronoiGrid (DynamicVoronoi *voronoi)
void	smoothPath (std::vector< std::pair< float, float > > *path)
	VoronoiPlanner ()
	Default constructor for the PlannerCore object.
	VoronoiPlanner (std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)
	Constructor for the PlannerCore object.
	~VoronoiPlanner ()
	Default deconstructor for the PlannerCore object.
Protected Attributes
costmap_2d::Costmap2D *	costmap_
	Store a copy of the current costmap in costmap. Called by makePlan.
std::string	frame_id_
bool	initialized_
ros::Publisher	plan_pub_
bool	publish_voronoi_grid_
bool	smooth_path_
ros::Publisher	voronoi_grid_pub_
float	weight_data_
float	weight_smooth_
Private Member Functions
void	clearRobotCell (const tf::Stamped< tf::Pose > &global_pose, unsigned int mx, unsigned int my)
void	costmapUpdateCallback (const map_msgs::OccupancyGridUpdate::ConstPtr &msg)
void	mapToWorld (double mx, double my, double &wx, double &wy)
void	outlineMap (unsigned char *costarr, int nx, int ny, unsigned char value)
void	reconfigureCB (voronoi_planner::VoronoiPlannerConfig &config, uint32_t level)
bool	worldToMap (double wx, double wy, double &mx, double &my)
Private Attributes
unsigned char *	cost_array_
double	default_tolerance_
dynamic_reconfigure::Server < voronoi_planner::VoronoiPlannerConfig > *	dsrv_
unsigned int	end_x_
unsigned int	end_y_
ros::ServiceServer	make_plan_srv_
boost::mutex	mutex_
double	planner_window_x_
double	planner_window_y_
unsigned int	start_x_
unsigned int	start_y_
std::string	tf_prefix_
DynamicVoronoi	voronoi_

Detailed Description

Definition at line 31 of file planner_core.h.

Constructor & Destructor Documentation

voronoi_planner::VoronoiPlanner::VoronoiPlanner ( )

Default constructor for the PlannerCore object.

Definition at line 75 of file planner_core.cpp.

voronoi_planner::VoronoiPlanner::VoronoiPlanner	(	std::string	name,
		costmap_2d::Costmap2D *	costmap,
		std::string	frame_id
	)

Constructor for the PlannerCore object.

Parameters:

name	The name of this planner
costmap	A pointer to the costmap to use
frame_id	Frame of the costmap

Definition at line 80 of file planner_core.cpp.

voronoi_planner::VoronoiPlanner::~VoronoiPlanner ( )

Default deconstructor for the PlannerCore object.

Definition at line 88 of file planner_core.cpp.

Member Function Documentation

void voronoi_planner::VoronoiPlanner::clearRobotCell	(	const tf::Stamped< tf::Pose > &	global_pose,
		unsigned int	mx,
		unsigned int	my
	)		`[private]`

Definition at line 145 of file planner_core.cpp.

void voronoi_planner::VoronoiPlanner::costmapUpdateCallback ( const map_msgs::OccupancyGridUpdate::ConstPtr & msg ) [private]

Definition at line 131 of file planner_core.cpp.

bool voronoi_planner::VoronoiPlanner::findPath	(	std::vector< std::pair< float, float > > *	path,
		int	init_x,
		int	init_y,
		int	goal_x,
		int	goal_y,
		DynamicVoronoi *	voronoi,
		bool	check_is_voronoi_cell,
		bool	stop_at_voronoi
	)

Definition at line 450 of file planner_core.cpp.

void voronoi_planner::VoronoiPlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)		`[virtual]`

Initialization function for the PlannerCore object.

Parameters:

name	The name of this planner
costmap_ros	A pointer to the ROS wrapper of the costmap to use for planning

Implements nav_core::BaseGlobalPlanner.

Definition at line 92 of file planner_core.cpp.

void voronoi_planner::VoronoiPlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2D *	costmap,
		std::string	frame_id
	)

Definition at line 96 of file planner_core.cpp.

bool voronoi_planner::VoronoiPlanner::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)		`[virtual]`

Given a goal pose in the world, compute a plan.

Parameters:

start	The start pose
goal	The goal pose
plan	The plan... filled by the planner

Returns:: True if a valid plan was found, false otherwise

Implements nav_core::BaseGlobalPlanner.

Definition at line 188 of file planner_core.cpp.

bool voronoi_planner::VoronoiPlanner::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)