Provides a ROS wrapper for the navfn planner which runs a fast, interpolated navigation function on a costmap. More...

#include <navfn_ros.h>

Inheritance diagram for navfn::NavfnROS:

Public Member Functions
bool	computePotential (const geometry_msgs::Point &world_point)
	Computes the full navigation function for the map given a point in the world to start from. More...

bool	getPlanFromPotential (const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first) More...

double	getPointPotential (const geometry_msgs::Point &world_point)
	Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first) More...

void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the NavFnROS object. More...

void	initialize (std::string name, costmap_2d::Costmap2D *costmap, std::string global_frame)
	Initialization function for the NavFnROS object. More...

bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Given a goal pose in the world, compute a plan. More...

bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan)
	Given a goal pose in the world, compute a plan. More...

bool	makePlanService (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp)

	NavfnROS ()
	Default constructor for the NavFnROS object. More...

	NavfnROS (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Constructor for the NavFnROS object. More...

	NavfnROS (std::string name, costmap_2d::Costmap2D *costmap, std::string global_frame)
	Constructor for the NavFnROS object. More...

void	publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, double r, double g, double b, double a)
	Publish a path for visualization purposes. More...

bool	validPointPotential (const geometry_msgs::Point &world_point)
	Check for a valid potential value at a given point in the world (Note: You should call computePotential first) More...

bool	validPointPotential (const geometry_msgs::Point &world_point, double tolerance)
	Check for a valid potential value at a given point in the world (Note: You should call computePotential first) More...

	~NavfnROS ()

Public Member Functions inherited from nav_core::BaseGlobalPlanner
virtual bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan, double &cost)

virtual	~BaseGlobalPlanner ()

Protected Attributes
bool	allow_unknown_

costmap_2d::Costmap2D *	costmap_
	Store a copy of the current costmap in costmap. Called by makePlan. More...

bool	initialized_

ros::Publisher	plan_pub_

boost::shared_ptr< NavFn >	planner_

pcl_ros::Publisher< PotarrPoint >	potarr_pub_

bool	visualize_potential_

Private Member Functions
void	clearRobotCell (const tf::Stamped< tf::Pose > &global_pose, unsigned int mx, unsigned int my)

void	mapToWorld (double mx, double my, double &wx, double &wy)

double	sq_distance (const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2)

Private Attributes
double	default_tolerance_

std::string	global_frame_

ros::ServiceServer	make_plan_srv_

boost::mutex	mutex_

double	planner_window_x_

double	planner_window_y_

std::string	tf_prefix_

Additional Inherited Members
Protected Member Functions inherited from nav_core::BaseGlobalPlanner
	BaseGlobalPlanner ()

Detailed Description

Provides a ROS wrapper for the navfn planner which runs a fast, interpolated navigation function on a costmap.

Definition at line 58 of file navfn_ros.h.

Constructor & Destructor Documentation

navfn::NavfnROS::NavfnROS ( )

Default constructor for the NavFnROS object.

Definition at line 50 of file navfn_ros.cpp.

navfn::NavfnROS::NavfnROS	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructor for the NavFnROS object.

Parameters

name	The name of this planner
costmap	A pointer to the ROS wrapper of the costmap to use

Definition at line 53 of file navfn_ros.cpp.

navfn::NavfnROS::NavfnROS	(	std::string	name,
		costmap_2d::Costmap2D *	costmap,
		std::string	global_frame
	)

Constructor for the NavFnROS object.

Parameters

name	The name of this planner
costmap	A pointer to the costmap to use
global_frame	The global frame of the costmap

Definition at line 59 of file navfn_ros.cpp.

navfn::NavfnROS::~NavfnROS ( )

inline

Definition at line 158 of file navfn_ros.h.

Member Function Documentation

void navfn::NavfnROS::clearRobotCell	(	const tf::Stamped< tf::Pose > &	global_pose,
		unsigned int	mx,
		unsigned int	my
	)

private

Definition at line 175 of file navfn_ros.cpp.

bool navfn::NavfnROS::computePotential ( const geometry_msgs::Point & world_point )

Computes the full navigation function for the map given a point in the world to start from.

Parameters

world_point The point to use for seeding the navigation function

Returns: True if the navigation function was computed successfully, false otherwise

Definition at line 147 of file navfn_ros.cpp.

bool navfn::NavfnROS::getPlanFromPotential	(	const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

Compute a plan to a goal after the potential for a start point has already been computed (Note: You should call computePotential first)

Parameters

goal	The goal pose to create a plan to
plan	The plan... filled by the planner

Returns: True if a valid plan was found, false otherwise

Definition at line 369 of file navfn_ros.cpp.

double navfn::NavfnROS::getPointPotential ( const geometry_msgs::Point & world_point )

Get the potential, or naviagation cost, at a given point in the world (Note: You should call computePotential first)

Parameters

world_point The point to get the potential for

Returns: The navigation function's value at that point in the world

Definition at line 133 of file navfn_ros.cpp.

void navfn::NavfnROS::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

virtual

Initialization function for the NavFnROS object.

Parameters

name	The name of this planner
costmap	A pointer to the ROS wrapper of the costmap to use for planning

Implements nav_core::BaseGlobalPlanner.

Definition at line 98 of file navfn_ros.cpp.

void navfn::NavfnROS::initialize	(	std::string	name,
		costmap_2d::Costmap2D *	costmap,
		std::string	global_frame
	)

Initialization function for the NavFnROS object.

Parameters

name	The name of this planner
costmap	A pointer to the costmap to use for planning
global_frame	The global frame of the costmap

Definition at line 65 of file navfn_ros.cpp.

bool navfn::NavfnROS::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

virtual

Given a goal pose in the world, compute a plan.

Parameters

start	The start pose
goal	The goal pose
plan	The plan... filled by the planner

Returns: True if a valid plan was found, false otherwise

Implements nav_core::BaseGlobalPlanner.

Definition at line 199 of file navfn_ros.cpp.

bool navfn::NavfnROS::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

Given a goal pose in the world, compute a plan.

Parameters

start	The start pose
goal	The goal pose
tolerance	The tolerance on the goal point for the planner
plan	The plan... filled by the planner

Returns: True if a valid plan was found, false otherwise

Definition at line 204 of file navfn_ros.cpp.

bool navfn::NavfnROS::makePlanService	(	nav_msgs::GetPlan::Request &	req,
		nav_msgs::GetPlan::Response &	resp
	)

Definition at line 185 of file navfn_ros.cpp.

void navfn::NavfnROS::mapToWorld	(	double	mx,
		double	my,
		double &	wx,
		double &	wy
	)

private

Definition at line 194 of file navfn_ros.cpp.

void navfn::NavfnROS::publishPlan	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		double	r,
		double	g,
		double	b,
		double	a
	)

Publish a path for visualization purposes.

Definition at line 345 of file navfn_ros.cpp.

double navfn::NavfnROS::sq_distance	(	const geometry_msgs::PoseStamped &	p1,
		const geometry_msgs::PoseStamped &	p2
	)

inlineprivate

Definition at line 175 of file navfn_ros.h.

bool navfn::NavfnROS::validPointPotential ( const geometry_msgs::Point & world_point )

Check for a valid potential value at a given point in the world (Note: You should call computePotential first)

Parameters

world_point The point to get the potential for

Returns: True if the navigation function is valid at that point in the world, false otherwise

Definition at line 102 of file navfn_ros.cpp.

bool navfn::NavfnROS::validPointPotential	(	const geometry_msgs::Point &	world_point,
		double	tolerance
	)

Check for a valid potential value at a given point in the world (Note: You should call computePotential first)

Parameters

world_point	The point to get the potential for
tolerance	The tolerance on searching around the world_point specified

Returns: True if the navigation function is valid at that point in the world, false otherwise

Definition at line 106 of file navfn_ros.cpp.

Member Data Documentation

bool navfn::NavfnROS::allow_unknown_

protected

Definition at line 171 of file navfn_ros.h.

costmap_2d::Costmap2D* navfn::NavfnROS::costmap_

protected

Store a copy of the current costmap in costmap. Called by makePlan.

Definition at line 167 of file navfn_ros.h.

double navfn::NavfnROS::default_tolerance_

private

Definition at line 183 of file navfn_ros.h.

std::string navfn::NavfnROS::global_frame_

private

Definition at line 187 of file navfn_ros.h.

bool navfn::NavfnROS::initialized_

protected

Definition at line 171 of file navfn_ros.h.

ros::ServiceServer navfn::NavfnROS::make_plan_srv_

private

Definition at line 186 of file navfn_ros.h.

boost::mutex navfn::NavfnROS::mutex_

private

Definition at line 185 of file navfn_ros.h.

ros::Publisher navfn::NavfnROS::plan_pub_

protected

Definition at line 169 of file navfn_ros.h.

boost::shared_ptr<NavFn> navfn::NavfnROS::planner_

protected

Definition at line 168 of file navfn_ros.h.

double navfn::NavfnROS::planner_window_x_

private

Definition at line 183 of file navfn_ros.h.

double navfn::NavfnROS::planner_window_y_

private

Definition at line 183 of file navfn_ros.h.

pcl_ros::Publisher<PotarrPoint> navfn::NavfnROS::potarr_pub_

protected

Definition at line 170 of file navfn_ros.h.

std::string navfn::NavfnROS::tf_prefix_

private

Definition at line 184 of file navfn_ros.h.

bool navfn::NavfnROS::visualize_potential_

protected

Definition at line 171 of file navfn_ros.h.

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

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation