planner_action.h
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1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
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33  * planner_action.h
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35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
38  *
39  */
40 
41 #ifndef MBF_ABSTRACT_NAV__PLANNER_ACTION_H_
42 #define MBF_ABSTRACT_NAV__PLANNER_ACTION_H_
43 
45 
46 #include <mbf_msgs/GetPathAction.h>
48 
49 #include "mbf_abstract_nav/abstract_action_base.hpp"
51 
52 
53 namespace mbf_abstract_nav{
54 
55 
56 class PlannerAction : public AbstractActionBase<mbf_msgs::GetPathAction, AbstractPlannerExecution>
57 {
58  public:
59 
61 
63  const std::string &name,
64  const mbf_utility::RobotInformation &robot_info
65  );
66 
67  void run(GoalHandle &goal_handle, AbstractPlannerExecution &execution);
68 
69  protected:
70 
77  bool transformPlanToGlobalFrame(std::vector<geometry_msgs::PoseStamped> &plan,
78  std::vector<geometry_msgs::PoseStamped> &global_plan);
79 
80 
81  private:
82 
85 
87  unsigned int path_seq_count_;
88 };
89 
90 } /* mbf_abstract_nav */
91 
92 #endif /* MBF_ABSTRACT_NAV__PLANNER_ACTION_H_ */
PlannerAction(const std::string &name, const mbf_utility::RobotInformation &robot_info)
ros::Publisher current_goal_pub_
Publisher to publish the current goal pose, which is used for path planning.
unsigned int path_seq_count_
Path sequence counter.
boost::shared_ptr< PlannerAction > Ptr
bool transformPlanToGlobalFrame(std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan)
Transforms a plan to the global frame (global_frame_) coord system.
void run(GoalHandle &goal_handle, AbstractPlannerExecution &execution)
The AbstractPlannerExecution class loads and binds the global planner plugin. It contains a thread ru...


mbf_abstract_nav
Author(s): Sebastian Pütz
autogenerated on Fri Nov 6 2020 03:56:24