Provides an interface for global planners used in navigation. All global planners written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_core-based plugins, providing backward compatibility.
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#include <costmap_planner.h>
Provides an interface for global planners used in navigation. All global planners written to work as MBF plugins must adhere to this interface. Alternatively, this class can also operate as a wrapper for old API nav_core-based plugins, providing backward compatibility.
Definition at line 52 of file costmap_planner.h.
virtual mbf_costmap_core::CostmapPlanner::~CostmapPlanner |
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inlinevirtual |
mbf_costmap_core::CostmapPlanner::CostmapPlanner |
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inlineprotected |
virtual bool mbf_costmap_core::CostmapPlanner::cancel |
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pure virtual |
Requests the planner to cancel, e.g. if it takes too much time.
- Returns
- True if a cancel has been successfully requested, false if not implemented.
Implements mbf_abstract_core::AbstractPlanner.
Initialization function for the CostmapPlanner.
- Parameters
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name | The name of this planner |
costmap_ros | A pointer to the ROS wrapper of the costmap to use for planning |
virtual uint32_t mbf_costmap_core::CostmapPlanner::makePlan |
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const geometry_msgs::PoseStamped & |
start, |
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const geometry_msgs::PoseStamped & |
goal, |
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double |
tolerance, |
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std::vector< geometry_msgs::PoseStamped > & |
plan, |
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double & |
cost, |
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std::string & |
message |
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pure virtual |
Given a goal pose in the world, compute a plan.
- Parameters
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start | The start pose |
goal | The goal pose |
tolerance | If the goal is obstructed, how many meters the planner can relax the constraint in x and y before failing |
plan | The plan... filled by the planner |
cost | The cost for the the plan |
message | Optional more detailed outcome as a string |
- Returns
- Result code as described on GetPath action result: SUCCESS = 0 1..9 are reserved as plugin specific non-error results FAILURE = 50 # Unspecified failure, only used for old, non-mfb_core based plugins CANCELED = 51 INVALID_START = 52 INVALID_GOAL = 53 NO_PATH_FOUND = 54 PAT_EXCEEDED = 55 EMPTY_PATH = 56 TF_ERROR = 57 NOT_INITIALIZED = 58 INVALID_PLUGIN = 59 INTERNAL_ERROR = 60 71..99 are reserved as plugin specific errors
Implements mbf_abstract_core::AbstractPlanner.
The documentation for this class was generated from the following file: