#include <SBPLPlanner2D.h>

Public Member Functions
gridmap_2d::GridMap2DPtr	getMap () const

const nav_msgs::Path &	getPath () const

double	getPathCosts () const

double	getRobotRadius () const

void	goalCallback (const geometry_msgs::PoseStampedConstPtr &goal)
	Set goal and plan when start was already set. More...

void	mapCallback (const nav_msgs::OccupancyGridConstPtr &occupancy_map)
	calls updateMap() More...

bool	plan (const geometry_msgs::Pose &start, const geometry_msgs::Pose &goal)
	Plans from start to goal, assuming that the map was set with updateMap(). When successful, you can retrieve the path with getPath(). More...

bool	plan (double startX, double startY, double goalX, double goalY)
	Plans from start to goal, assuming that the map was set with updateMap(). When successful, you can retrieve the path with getPath(). More...

	SBPLPlanner2D ()

void	startCallback (const geometry_msgs::PoseWithCovarianceStampedConstPtr &start)
	Set start and plan when goal was already set. More...

bool	updateMap (gridmap_2d::GridMap2DPtr map)
	Setup the internal map representation and initialize the SBPL planning environment. More...

virtual	~SBPLPlanner2D ()

Protected Member Functions
bool	plan ()

void	setPlanner ()
	(re)sets the planner More...

Protected Attributes
double	allocated_time_

bool	forward_search_

geometry_msgs::Pose	goal_pose_

bool	goal_received_

ros::Subscriber	goal_sub_

double	initial_epsilon_

gridmap_2d::GridMap2DPtr	map_

ros::Subscriber	map_sub_

ros::NodeHandle	nh_

nav_msgs::Path	path_

double	path_costs_

ros::Publisher	path_pub_

boost::shared_ptr< SBPLPlanner >	planner_

boost::shared_ptr< EnvironmentNAV2D >	planner_environment_

std::string	planner_type_

double	robot_radius_

bool	search_until_first_solution_

geometry_msgs::Pose	start_pose_

bool	start_received_

ros::Subscriber	start_sub_

Static Protected Attributes
static const unsigned char	OBSTACLE_COST = 20

Detailed Description

Definition at line 41 of file SBPLPlanner2D.h.

Constructor & Destructor Documentation

SBPLPlanner2D::SBPLPlanner2D ( )

Definition at line 31 of file SBPLPlanner2D.cpp.

SBPLPlanner2D::~SBPLPlanner2D ( )

virtual

Definition at line 52 of file SBPLPlanner2D.cpp.

Member Function Documentation

gridmap_2d::GridMap2DPtr SBPLPlanner2D::getMap ( ) const

inline

Definition at line 54 of file SBPLPlanner2D.h.

const nav_msgs::Path& SBPLPlanner2D::getPath ( ) const

inline

Definition at line 77 of file SBPLPlanner2D.h.

double SBPLPlanner2D::getPathCosts ( ) const

inline

Returns: costs of the path (=length in m), if planning was successful

Definition at line 75 of file SBPLPlanner2D.h.

double SBPLPlanner2D::getRobotRadius ( ) const

inline

Definition at line 78 of file SBPLPlanner2D.h.

void SBPLPlanner2D::goalCallback ( const geometry_msgs::PoseStampedConstPtr & goal )

Set goal and plan when start was already set.

Definition at line 56 of file SBPLPlanner2D.cpp.

void SBPLPlanner2D::mapCallback ( const nav_msgs::OccupancyGridConstPtr & occupancy_map )

calls updateMap()

Definition at line 192 of file SBPLPlanner2D.cpp.

bool SBPLPlanner2D::plan	(	const geometry_msgs::Pose &	start,
		const geometry_msgs::Pose &	goal
	)

Plans from start to goal, assuming that the map was set with updateMap(). When successful, you can retrieve the path with getPath().

Parameters

start
goal

Returns: success of planning

Definition at line 86 of file SBPLPlanner2D.cpp.

bool SBPLPlanner2D::plan	(	double	startX,
		double	startY,
		double	goalX,
		double	goalY
	)

Plans from start to goal, assuming that the map was set with updateMap(). When successful, you can retrieve the path with getPath().

Returns: success of planning

Definition at line 96 of file SBPLPlanner2D.cpp.

bool SBPLPlanner2D::plan ( )

protected

Definition at line 109 of file SBPLPlanner2D.cpp.

void SBPLPlanner2D::setPlanner ( )

protected

(re)sets the planner

Definition at line 223 of file SBPLPlanner2D.cpp.

void SBPLPlanner2D::startCallback ( const geometry_msgs::PoseWithCovarianceStampedConstPtr & start )

Set start and plan when goal was already set.

Definition at line 71 of file SBPLPlanner2D.cpp.

bool SBPLPlanner2D::updateMap ( gridmap_2d::GridMap2DPtr map )

Setup the internal map representation and initialize the SBPL planning environment.

Definition at line 197 of file SBPLPlanner2D.cpp.

Member Data Documentation

double SBPLPlanner2D::allocated_time_

protected

Definition at line 91 of file SBPLPlanner2D.h.

bool SBPLPlanner2D::forward_search_

protected

Definition at line 94 of file SBPLPlanner2D.h.

geometry_msgs::Pose SBPLPlanner2D::goal_pose_

protected

Definition at line 98 of file SBPLPlanner2D.h.

bool SBPLPlanner2D::goal_received_

protected

Definition at line 97 of file SBPLPlanner2D.h.

ros::Subscriber SBPLPlanner2D::goal_sub_

protected

Definition at line 84 of file SBPLPlanner2D.h.

double SBPLPlanner2D::initial_epsilon_

protected

Definition at line 92 of file SBPLPlanner2D.h.

gridmap_2d::GridMap2DPtr SBPLPlanner2D::map_

protected

Definition at line 88 of file SBPLPlanner2D.h.

ros::Subscriber SBPLPlanner2D::map_sub_

protected

Definition at line 84 of file SBPLPlanner2D.h.

ros::NodeHandle SBPLPlanner2D::nh_

protected

Definition at line 83 of file SBPLPlanner2D.h.

const unsigned char SBPLPlanner2D::OBSTACLE_COST = 20

staticprotected

Definition at line 102 of file SBPLPlanner2D.h.

nav_msgs::Path SBPLPlanner2D::path_

protected

Definition at line 99 of file SBPLPlanner2D.h.

double SBPLPlanner2D::path_costs_

protected

Definition at line 100 of file SBPLPlanner2D.h.

ros::Publisher SBPLPlanner2D::path_pub_

protected

Definition at line 85 of file SBPLPlanner2D.h.

boost::shared_ptr<SBPLPlanner> SBPLPlanner2D::planner_

protected

Definition at line 86 of file SBPLPlanner2D.h.

boost::shared_ptr<EnvironmentNAV2D> SBPLPlanner2D::planner_environment_

protected

Definition at line 87 of file SBPLPlanner2D.h.

std::string SBPLPlanner2D::planner_type_

protected

Definition at line 90 of file SBPLPlanner2D.h.

double SBPLPlanner2D::robot_radius_

protected

Definition at line 95 of file SBPLPlanner2D.h.

bool SBPLPlanner2D::search_until_first_solution_

protected

Definition at line 93 of file SBPLPlanner2D.h.

geometry_msgs::Pose SBPLPlanner2D::start_pose_

protected

Definition at line 98 of file SBPLPlanner2D.h.

bool SBPLPlanner2D::start_received_

protected

Definition at line 97 of file SBPLPlanner2D.h.

ros::Subscriber SBPLPlanner2D::start_sub_

protected

Definition at line 84 of file SBPLPlanner2D.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation