dwb_local_planner Namespace Reference

Classes
class	DebugDWBLocalPlanner
	A version of DWBLocalPlanner with ROS services for the major components. More...
class	DWBLocalPlanner
	Plugin-based flexible local_planner. More...
class	DWBPublisher
	Consolidation of all the publishing logic for the DWB Local Planner. More...
class	GoalChecker
	Function-object for checking whether a goal has been reached. More...
class	IllegalTrajectoryTracker
class	NoLegalTrajectoriesException
	Thrown when all the trajectories explored are illegal. More...
class	TrajectoryCritic
	Evaluates a Trajectory2D to produce a score. More...
class	TrajectoryGenerator
	Interface for iterating through possible velocities and creating trajectories. More...

Functions
std::string	getBackwardsCompatibleDefaultGenerator (const ros::NodeHandle &nh)
const geometry_msgs::Pose2D &	getClosestPose (const dwb_msgs::Trajectory2D &trajectory, const double time_offset)
	Helper function to find a pose in the trajectory with a particular time time_offset. More...
double	getSquareDistance (const geometry_msgs::Pose2D &pose_a, const geometry_msgs::Pose2D &pose_b)
void	loadBackwardsCompatibleParameters (const ros::NodeHandle &nh)
	Load parameters to emulate dwa_local_planner. More...
geometry_msgs::Pose2D	projectPose (const dwb_msgs::Trajectory2D &trajectory, const double time_offset)
	Helper function to create a pose with an exact time_offset by linearly interpolating between existing poses. More...

Function Documentation

std::string dwb_local_planner::getBackwardsCompatibleDefaultGenerator

(

const ros::NodeHandle &

nh

)

Definition at line 44 of file backwards_compatibility.cpp.

const geometry_msgs::Pose2D & dwb_local_planner::getClosestPose	(	const dwb_msgs::Trajectory2D &	trajectory,
		const double	time_offset
	)

Helper function to find a pose in the trajectory with a particular time time_offset.

Parameters

trajectory	The trajectory to search
time_offset	The desired time_offset

Returns

reference to the pose that is closest to the particular time offset

Linearly searches through the poses. Once the poses time_offset is greater than the desired time_offset, the search ends, since the poses have increasing time_offsets.

Definition at line 40 of file trajectory_utils.cpp.

double dwb_local_planner::getSquareDistance	(	const geometry_msgs::Pose2D &	pose_a,
		const geometry_msgs::Pose2D &	pose_b
	)

Definition at line 384 of file dwb_local_planner.cpp.

void dwb_local_planner::loadBackwardsCompatibleParameters

(

const ros::NodeHandle &

nh

)

Load parameters to emulate dwa_local_planner.

If no critic parameters are specified, this function should be called to load/move parameters that will emulate the behavior of dwa_local_planner

Parameters

nh	NodeHandle to load parameters from

Definition at line 58 of file backwards_compatibility.cpp.

geometry_msgs::Pose2D dwb_local_planner::projectPose	(	const dwb_msgs::Trajectory2D &	trajectory,
		const double	time_offset
	)

Helper function to create a pose with an exact time_offset by linearly interpolating between existing poses.

Parameters

trajectory	The trajectory with pose and time offset information
time_offset	The desired time_offset

Returns

New Pose2D with interpolated values

Note

If the given time offset is outside the bounds of the trajectory, the return pose will be either the first or last pose.

Definition at line 66 of file trajectory_utils.cpp.