Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
vigir_footstep_planning::FootstepPlanner Class Reference

A class to control the interaction between ROS and the footstep planner. More...

#include <footstep_planner.h>

List of all members.

Public Types

typedef boost::shared_ptr
< const FootstepPlanner
ConstPtr
typedef boost::function< void(msgs::PlanningFeedback)> FeedbackCB
typedef boost::function< void()> PreemptCB
typedef boost::shared_ptr
< FootstepPlanner
Ptr
typedef boost::function< void(msgs::StepPlanRequestService::Response)> ResultCB

Public Member Functions

 FootstepPlanner (ros::NodeHandle &nh)
bool isPlanning () const
void preemptPlanning ()
 stops thread running planning
bool setParams (const vigir_generic_params::ParameterSet &params)
msgs::ErrorStatus stepPlanRequest (msgs::StepPlanRequestService::Request &req, ResultCB result_cb=ResultCB(), FeedbackCB feedback_cb=FeedbackCB(), PreemptCB preempt_cb=PreemptCB())
bool stepPlanRequestService (msgs::StepPlanRequestService::Request &req, msgs::StepPlanRequestService::Response &resp)
 Service handle to plan footsteps.
msgs::ErrorStatus updateFeet (msgs::Feet &feet, uint8_t mode, bool transform=true) const
msgs::ErrorStatus updateFoot (msgs::Foot &foot, uint8_t mode, bool transform=true) const
msgs::ErrorStatus updateStepPlan (msgs::StepPlan &result, uint8_t mode, const std::string &param_set_name=std::string(), bool transform=true) const
virtual ~FootstepPlanner ()

Protected Member Functions

bool checkRobotCollision (const State &left_foot, const State &right_foot, bool &left, bool &right) const
void doPlanning (msgs::StepPlanRequestService::Request &req)
 : method used in seperate thread
bool extractPath (const std::vector< int > &state_ids)
 Extracts the path (list of foot poses) from a list of state IDs calculated by the SBPL.
msgs::ErrorStatus finalizeAndAddStepToPlan (State &s, const msgs::PatternParameters &env_params, bool change_z=true)
bool finalizeStepPlan (msgs::StepPlanRequestService::Request &req, msgs::StepPlanRequestService::Response &resp, bool post_process)
 extracts step plan response from planning result
bool findNearestValidState (State &s) const
State getFootPose (const State &robot, Leg leg, double dx, double dy, double dyaw)
 Returns the foot pose of a leg for a given robot pose.
State getFootPose (const State &robot, Leg leg)
size_t getNumExpandedStates () const
size_t getNumFootPoses () const
state_iter_t getPathBegin () const
double getPathCosts () const
state_iter_t getPathEnd () const
int getPathSize ()
State getStartFootLeft ()
State getStartFootRight ()
bool pathExists ()
bool pathIsNew (const std::vector< int > &new_path)
bool plan (ReplanParams &params)
 Starts the planning task in the underlying SBPL.
msgs::ErrorStatus planPattern (msgs::StepPlanRequestService::Request &req)
 plans stepping
msgs::ErrorStatus planSteps (msgs::StepPlanRequestService::Request &req)
 Start a planning task from scratch (will delete information of previous planning tasks). Map and start, goal poses need to be set beforehand.
void reset ()
 Reset the previous planning information.
void resetTotally ()
 Reset and reinitialize the environment.
bool setGoal (const State &left_foot, const State &right_foot, bool ignore_collision=false)
 Sets the goal pose as position of left and right footsteps.
bool setGoal (const msgs::StepPlanRequest &req, bool ignore_collision=false)
 Sets the goal pose.
void setPlanner ()
 Sets the planning algorithm used by SBPL.
bool setStart (const State &left_foot, const State &right_foot, bool ignore_collision=false)
 Sets the start pose as position of left and right footsteps.
bool setStart (const msgs::StepPlanRequest &req, bool ignore_collision=false)
 Sets the start pose.
void startPlanning (msgs::StepPlanRequestService::Request &req)
 : starts planning in a new thread

Protected Attributes

EnvironmentParameters::Ptr env_params
FeedbackCB feedback_cb
FootPoseTransformer foot_pose_transformer
std::string frame_id
bool goal_pose_set_up
pcl::PointCloud
< pcl::PointXYZI >::Ptr 
ivCheckedFootContactSupport
ros::Publisher ivCheckedFootContactSupportPub
State ivGoalFootLeft
State ivGoalFootRight
std::vector< State > ivPath
double ivPathCost
boost::shared_ptr
< FootstepPlannerEnvironment
ivPlannerEnvironmentPtr
boost::shared_ptr< SBPLPlanner > ivPlannerPtr
std::vector< int > ivPlanningStatesIds
State ivStartFootLeft
State ivStartFootRight
double max_number_steps
double max_path_length_ratio
boost::recursive_mutex planner_mutex
boost::thread planning_thread
PreemptCB preempt_cb
ResultCB result_cb
unsigned int start_foot_selection
bool start_pose_set_up
unsigned int step_plan_uid

Detailed Description

A class to control the interaction between ROS and the footstep planner.

Definition at line 92 of file footstep_planner.h.


Member Typedef Documentation

Definition at line 119 of file footstep_planner.h.

typedef boost::function<void (msgs::PlanningFeedback)> vigir_footstep_planning::FootstepPlanner::FeedbackCB

Definition at line 96 of file footstep_planner.h.

typedef boost::function<void ()> vigir_footstep_planning::FootstepPlanner::PreemptCB

Definition at line 97 of file footstep_planner.h.

Definition at line 118 of file footstep_planner.h.

typedef boost::function<void (msgs::StepPlanRequestService::Response)> vigir_footstep_planning::FootstepPlanner::ResultCB

Definition at line 95 of file footstep_planner.h.


Constructor & Destructor Documentation

Definition at line 5 of file footstep_planner.cpp.

Definition at line 28 of file footstep_planner.cpp.


Member Function Documentation

bool vigir_footstep_planning::FootstepPlanner::checkRobotCollision ( const State &  left_foot,
const State &  right_foot,
bool &  left,
bool &  right 
) const [protected]

Definition at line 1161 of file footstep_planner.cpp.

void vigir_footstep_planning::FootstepPlanner::doPlanning ( msgs::StepPlanRequestService::Request &  req) [protected]

: method used in seperate thread

Definition at line 1048 of file footstep_planner.cpp.

bool vigir_footstep_planning::FootstepPlanner::extractPath ( const std::vector< int > &  state_ids) [protected]

Extracts the path (list of foot poses) from a list of state IDs calculated by the SBPL.

Definition at line 184 of file footstep_planner.cpp.

msgs::ErrorStatus vigir_footstep_planning::FootstepPlanner::finalizeAndAddStepToPlan ( State &  s,
const msgs::PatternParameters &  env_params,
bool  change_z = true 
) [protected]

Definition at line 795 of file footstep_planner.cpp.

bool vigir_footstep_planning::FootstepPlanner::finalizeStepPlan ( msgs::StepPlanRequestService::Request &  req,
msgs::StepPlanRequestService::Response &  resp,
bool  post_process 
) [protected]

extracts step plan response from planning result

Definition at line 817 of file footstep_planner.cpp.

Definition at line 1101 of file footstep_planner.cpp.

State vigir_footstep_planning::FootstepPlanner::getFootPose ( const State &  robot,
Leg  leg,
double  dx,
double  dy,
double  dyaw 
) [protected]

Returns the foot pose of a leg for a given robot pose.

Definition at line 1274 of file footstep_planner.cpp.

State vigir_footstep_planning::FootstepPlanner::getFootPose ( const State &  robot,
Leg  leg 
) [protected]

Definition at line 1298 of file footstep_planner.cpp.

Returns:
Number of expanded states.

Definition at line 179 of file footstep_planner.h.

size_t vigir_footstep_planning::FootstepPlanner::getNumFootPoses ( ) const [inline, protected]
Returns:
Number of planned foot poses.

Definition at line 185 of file footstep_planner.h.

state_iter_t vigir_footstep_planning::FootstepPlanner::getPathBegin ( ) const [inline, protected]

Definition at line 187 of file footstep_planner.h.

double vigir_footstep_planning::FootstepPlanner::getPathCosts ( ) const [inline, protected]
Returns:
Costs of the planned footstep path.

Definition at line 176 of file footstep_planner.h.

state_iter_t vigir_footstep_planning::FootstepPlanner::getPathEnd ( ) const [inline, protected]

Definition at line 188 of file footstep_planner.h.

Returns:
Size of the planned path.

Definition at line 191 of file footstep_planner.h.

Definition at line 193 of file footstep_planner.h.

Definition at line 194 of file footstep_planner.h.

Definition at line 85 of file footstep_planner.cpp.

Returns:
True if for the current start and goal pose a path exists.

Definition at line 203 of file footstep_planner.h.

bool vigir_footstep_planning::FootstepPlanner::pathIsNew ( const std::vector< int > &  new_path) [protected]
Returns:
True if the newly calculated path is different from the existing one (if one exists).

Definition at line 1303 of file footstep_planner.cpp.

bool vigir_footstep_planning::FootstepPlanner::plan ( ReplanParams &  params) [protected]

Starts the planning task in the underlying SBPL.

NOTE: Never call this directly. Always use either plan() or replan() to invoke this method.

: updateGoal adds goal states to list so planner may use it independend from costs...

Definition at line 90 of file footstep_planner.cpp.

msgs::ErrorStatus vigir_footstep_planning::FootstepPlanner::planPattern ( msgs::StepPlanRequestService::Request &  req) [protected]

plans stepping

Definition at line 465 of file footstep_planner.cpp.

msgs::ErrorStatus vigir_footstep_planning::FootstepPlanner::planSteps ( msgs::StepPlanRequestService::Request &  req) [protected]

Start a planning task from scratch (will delete information of previous planning tasks). Map and start, goal poses need to be set beforehand.

Returns:
Success of planning.

: Hack to disable collision check for start pose

Definition at line 439 of file footstep_planner.cpp.

stops thread running planning

Definition at line 1088 of file footstep_planner.cpp.

Reset the previous planning information.

Definition at line 395 of file footstep_planner.cpp.

Reset and reinitialize the environment.

Definition at line 415 of file footstep_planner.cpp.

bool vigir_footstep_planning::FootstepPlanner::setGoal ( const State &  left_foot,
const State &  right_foot,
bool  ignore_collision = false 
) [protected]

Sets the goal pose as position of left and right footsteps.

Returns:
True if the two foot poses have been set successfully.

Definition at line 1221 of file footstep_planner.cpp.

bool vigir_footstep_planning::FootstepPlanner::setGoal ( const msgs::StepPlanRequest &  req,
bool  ignore_collision = false 
) [protected]

Sets the goal pose.

Returns:
True if the two foot poses have been set successfully.

Definition at line 1252 of file footstep_planner.cpp.

bool vigir_footstep_planning::FootstepPlanner::setParams ( const vigir_generic_params::ParameterSet &  params)

Definition at line 208 of file footstep_planner.cpp.

Sets the planning algorithm used by SBPL.

Definition at line 36 of file footstep_planner.cpp.

bool vigir_footstep_planning::FootstepPlanner::setStart ( const State &  left_foot,
const State &  right_foot,
bool  ignore_collision = false 
) [protected]

Sets the start pose as position of left and right footsteps.

Returns:
True if the two foot poses have been set successfully.

Definition at line 1175 of file footstep_planner.cpp.

bool vigir_footstep_planning::FootstepPlanner::setStart ( const msgs::StepPlanRequest &  req,
bool  ignore_collision = false 
) [protected]

Sets the start pose.

Returns:
True if the two foot poses have been set successfully.

Definition at line 1206 of file footstep_planner.cpp.

void vigir_footstep_planning::FootstepPlanner::startPlanning ( msgs::StepPlanRequestService::Request &  req) [protected]

: starts planning in a new thread

Definition at line 1042 of file footstep_planner.cpp.

msgs::ErrorStatus vigir_footstep_planning::FootstepPlanner::stepPlanRequest ( msgs::StepPlanRequestService::Request &  req,
ResultCB  result_cb = ResultCB(),
FeedbackCB  feedback_cb = FeedbackCB(),
PreemptCB  preempt_cb = PreemptCB() 
)

Definition at line 973 of file footstep_planner.cpp.

bool vigir_footstep_planning::FootstepPlanner::stepPlanRequestService ( msgs::StepPlanRequestService::Request &  req,
msgs::StepPlanRequestService::Response &  resp 
)

Service handle to plan footsteps.

Definition at line 1025 of file footstep_planner.cpp.

msgs::ErrorStatus vigir_footstep_planning::FootstepPlanner::updateFeet ( msgs::Feet &  feet,
uint8_t  mode,
bool  transform = true 
) const

Definition at line 291 of file footstep_planner.cpp.

msgs::ErrorStatus vigir_footstep_planning::FootstepPlanner::updateFoot ( msgs::Foot &  foot,
uint8_t  mode,
bool  transform = true 
) const

Definition at line 255 of file footstep_planner.cpp.

msgs::ErrorStatus vigir_footstep_planning::FootstepPlanner::updateStepPlan ( msgs::StepPlan &  result,
uint8_t  mode,
const std::string &  param_set_name = std::string(),
bool  transform = true 
) const

Definition at line 316 of file footstep_planner.cpp.


Member Data Documentation

Definition at line 257 of file footstep_planner.h.

Definition at line 239 of file footstep_planner.h.

Definition at line 253 of file footstep_planner.h.

Definition at line 256 of file footstep_planner.h.

Definition at line 259 of file footstep_planner.h.

pcl::PointCloud<pcl::PointXYZI>::Ptr vigir_footstep_planning::FootstepPlanner::ivCheckedFootContactSupport [protected]

Definition at line 270 of file footstep_planner.h.

Definition at line 233 of file footstep_planner.h.

Definition at line 249 of file footstep_planner.h.

Definition at line 250 of file footstep_planner.h.

std::vector<State> vigir_footstep_planning::FootstepPlanner::ivPath [protected]

Definition at line 245 of file footstep_planner.h.

Definition at line 266 of file footstep_planner.h.

Definition at line 242 of file footstep_planner.h.

boost::shared_ptr<SBPLPlanner> vigir_footstep_planning::FootstepPlanner::ivPlannerPtr [protected]

Definition at line 243 of file footstep_planner.h.

Definition at line 268 of file footstep_planner.h.

Definition at line 247 of file footstep_planner.h.

Definition at line 248 of file footstep_planner.h.

Definition at line 261 of file footstep_planner.h.

Definition at line 264 of file footstep_planner.h.

boost::recursive_mutex vigir_footstep_planning::FootstepPlanner::planner_mutex [mutable, protected]

Definition at line 235 of file footstep_planner.h.

Definition at line 236 of file footstep_planner.h.

Definition at line 240 of file footstep_planner.h.

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Definition at line 273 of file footstep_planner.h.


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


vigir_footstep_planner
Author(s): Alexander Stumpf
autogenerated on Fri Apr 7 2017 02:59:36