dlux_global_planner Namespace Reference

Classes
class	CostInterpreter
class	DluxGlobalPlanner
	Plugin-based global wavefront planner that conforms to the nav_core2 GlobalPlanner interface. More...
class	PlannerNode
	Demonstration/debug tool that creates paths between arbitrary points. More...
class	PotentialCalculator
	Plugin interface for calculating a numerical score (potential) for some subset of the cells in the costmap. More...
class	Traceback
	Plugin interface for using the potential to trace a path from the start position back to the goal position. More...

Typedefs
using	PotentialGrid = nav_grid::VectorNavGrid< float >

Enumerations
enum	CardinalDirection {   CardinalDirection::STATIONARY = 0, CardinalDirection::NORTH = 1, CardinalDirection::SOUTH = 2, CardinalDirection::WEST = 4,   CardinalDirection::NORTHWEST = 5, CardinalDirection::SOUTHWEST = 6, CardinalDirection::EAST = 8, CardinalDirection::NORTHEAST = 9,   CardinalDirection::SOUTHEAST = 10 }
enum	UnknownInterpretation { UnknownInterpretation::LETHAL, UnknownInterpretation::EXPENSIVE, UnknownInterpretation::FREE }

Functions
static float	calculateKernel (const PotentialGrid &potential_grid, unsigned char cost, unsigned int x, unsigned int y, CardinalDirection *upstream=nullptr)
	potential calculation that uses multiple values of the neighboring cells More...
bool	operator& (CardinalDirection a, CardinalDirection b)
CardinalDirection	operator+ (CardinalDirection a, CardinalDirection b)

Variables
const float	HIGH_POTENTIAL = std::numeric_limits<float>::max()
const unsigned char	LETHAL_COST = nav_core2::Costmap::INSCRIBED_INFLATED_OBSTACLE
const float	LETHAL_COST_F = static_cast<float>(LETHAL_COST)

Typedef Documentation

using dlux_global_planner::PotentialGrid = typedef nav_grid::VectorNavGrid<float>

Definition at line 48 of file potential.h.

Enumeration Type Documentation

enum dlux_global_planner::CardinalDirection

strong

Enumerator
STATIONARY
NORTH
SOUTH
WEST
NORTHWEST
SOUTHWEST
EAST
NORTHEAST
SOUTHEAST

Definition at line 45 of file kernel_function.h.

enum dlux_global_planner::UnknownInterpretation

strong

Enumerator
LETHAL
EXPENSIVE
FREE

Definition at line 44 of file cost_interpreter.h.

Function Documentation

static float dlux_global_planner::calculateKernel ( const PotentialGrid &  potential_grid, unsigned char  cost, unsigned int  x, unsigned int  y, CardinalDirection *  upstream = nullptr  )

static

potential calculation that uses multiple values of the neighboring cells

The new potential is returned directly. Information about which cells were used in the computation can be returned using the upstream variable. For instance, if just the cell (x+1, y) was used in the calculation, upstream=EAST If (x+1, y) and (x, y+1) were used, upstream=SOUTHEAST.

Parameters

potential_grid[in]	potential grid where neighboring values are read from
cost[in]	The cost to traversing to this cell
x[in]	The x coordinate of this cell we're calculating potential for
y[in]	The y coordinate
upstream[out]	Direction of cells used in computation (if not null initially)

Returns

potential for this cell

Definition at line 83 of file kernel_function.h.

bool dlux_global_planner::operator& ( CardinalDirection  a, CardinalDirection  b  )

inline

Definition at line 63 of file kernel_function.h.

CardinalDirection dlux_global_planner::operator+ ( CardinalDirection  a, CardinalDirection  b  )

inline

Definition at line 58 of file kernel_function.h.

Variable Documentation

const float dlux_global_planner::HIGH_POTENTIAL = std::numeric_limits<float>::max()

Default value for potential indicating it has not yet been calculated

Definition at line 46 of file potential.h.

const unsigned char dlux_global_planner::LETHAL_COST = nav_core2::Costmap::INSCRIBED_INFLATED_OBSTACLE

Definition at line 45 of file cost_interpreter.h.

const float dlux_global_planner::LETHAL_COST_F = static_cast<float>(LETHAL_COST)

Definition at line 46 of file cost_interpreter.h.