nav_core2::GlobalPlanner Class Reference

Provides an interface for global planners used in navigation. More...

#include <global_planner.h>

Public Member Functions
virtual void	initialize (const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, Costmap::Ptr costmap)=0
	Initialization function for the GlobalPlanner. More...
virtual nav_2d_msgs::Path2D	makePlan (const nav_2d_msgs::Pose2DStamped &start, const nav_2d_msgs::Pose2DStamped &goal)=0
	Run the global planner to make a plan starting at the start and ending at the goal. More...
virtual	~GlobalPlanner ()
	Virtual Destructor. More...

Detailed Description

Provides an interface for global planners used in navigation.

Definition at line 50 of file global_planner.h.

Constructor & Destructor Documentation

virtual nav_core2::GlobalPlanner::~GlobalPlanner ( )

inlinevirtual

Virtual Destructor.

Definition at line 56 of file global_planner.h.

Member Function Documentation

virtual void nav_core2::GlobalPlanner::initialize ( const ros::NodeHandle &  parent, const std::string &  name, TFListenerPtr  tf, Costmap::Ptr  costmap  )

pure virtual

Initialization function for the GlobalPlanner.

ROS parameters/topics are expected to be in the parent/name namespace. It is suggested that all NodeHandles in the planner use the parent NodeHandle's callback queue.

Parameters

parent	NodeHandle to derive other NodeHandles from
name	The name of this planner
tf	A pointer to a transform listener
costmap	A pointer to the costmap

virtual nav_2d_msgs::Path2D nav_core2::GlobalPlanner::makePlan ( const nav_2d_msgs::Pose2DStamped &  start, const nav_2d_msgs::Pose2DStamped &  goal  )

pure virtual

Run the global planner to make a plan starting at the start and ending at the goal.

Parameters

start	The starting pose of the robot
goal	The goal pose of the robot

Returns

The sequence of poses to get from start to goal, if any

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

• global_planner.h