costmap_recovery_execution.cpp
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1 /*
2  * Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
3  *
4  * Redistribution and use in source and binary forms, with or without
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33  * costmap_recovery_execution.cpp
34  *
35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
38  *
39  */
43 
44 namespace mbf_costmap_nav
45 {
46 
48  const std::string name,
49  const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr,
50  const TFPtr &tf_listener_ptr,
51  CostmapPtr &global_costmap, CostmapPtr &local_costmap,
52  const MoveBaseFlexConfig &config,
53  boost::function<void()> setup_fn,
54  boost::function<void()> cleanup_fn)
55  : AbstractRecoveryExecution(name, recovery_ptr, tf_listener_ptr, toAbstract(config), setup_fn, cleanup_fn),
56  global_costmap_(global_costmap), local_costmap_(local_costmap)
57 {
58 }
59 
61 {
62 }
63 
64 mbf_abstract_nav::MoveBaseFlexConfig CostmapRecoveryExecution::toAbstract(const MoveBaseFlexConfig &config)
65 {
66  // copy the recovery-related abstract configuration common to all MBF-based navigation
67  mbf_abstract_nav::MoveBaseFlexConfig abstract_config;
68  abstract_config.recovery_enabled = config.recovery_enabled;
69  abstract_config.recovery_patience = config.recovery_patience;
70  return abstract_config;
71 }
72 
73 } /* namespace mbf_costmap_nav */
CostmapRecoveryExecution(const std::string name, const mbf_costmap_core::CostmapRecovery::Ptr &recovery_ptr, const TFPtr &tf_listener_ptr, CostmapPtr &global_costmap, CostmapPtr &local_costmap, const MoveBaseFlexConfig &config, boost::function< void()> setup_fn, boost::function< void()> cleanup_fn)
Constructor.
mbf_abstract_nav::MoveBaseFlexConfig toAbstract(const MoveBaseFlexConfig &config)


mbf_costmap_nav
Author(s): Sebastian Pütz
autogenerated on Tue Jun 18 2019 19:34:40