Classes
class	CostCoeff

Public Types
using	Astar = GridAstar< 3, 2 >

Public Member Functions
	Planner3dNode ()

void	spin ()

Protected Types
enum	DebugMode { DEBUG_HYSTERESIS, DEBUG_COST_ESTIM }

using	Planner3DActionServer = actionlib::SimpleActionServer< move_base_msgs::MoveBaseAction >

Protected Member Functions
void	cbAction ()

float	cbCost (const Astar::Vec &s, Astar::Vec &e, const Astar::Vec &v_goal, const Astar::Vec &v_start, const bool hyst)

float	cbCostEstim (const Astar::Vec &s, const Astar::Vec &e)

bool	cbForget (std_srvs::EmptyRequest &req, std_srvs::EmptyResponse &res)

void	cbGoal (const geometry_msgs::PoseStamped::ConstPtr &msg)

bool	cbMakePlan (nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &res)

void	cbMap (const costmap_cspace_msgs::CSpace3D::ConstPtr &msg)

void	cbMapUpdate (const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr &msg)

void	cbPreempt ()

bool	cbProgress (const std::list< Astar::Vec > &path_grid)

std::vector< Astar::Vec > &	cbSearch (const Astar::Vec &p, const Astar::Vec &s, const Astar::Vec &e)

void	diagnoseStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)

float	euclidCost (const Astar::Vec &v, const Astar::Vecf coef) const

float	euclidCost (const Astar::Vec &v) const

void	fillCostmap (reservable_priority_queue< Astar::PriorityVec > &open, Astar::Gridmap< float > &g, const Astar::Vec &s, const Astar::Vec &e)

bool	makePlan (const geometry_msgs::Pose &gs, const geometry_msgs::Pose &ge, nav_msgs::Path &path, bool hyst)

void	publishCostmap ()

void	publishEmptyPath ()

bool	searchAvailablePos (Astar::Vec &s, const int xy_range, const int angle_range, const int cost_acceptable=50, const int min_xy_range=0)

bool	setGoal (const geometry_msgs::PoseStamped &msg)

bool	switchDetect (const nav_msgs::Path &path)

bool	updateGoal (const bool goal_changed=true)

void	updateStart ()

Protected Attributes
std::shared_ptr< Planner3DActionServer >	act_

float	angle_resolution_aspect_

Astar	as_

CostCoeff	cc_

Astar::Gridmap< char, 0x40 >	cm_

Astar::Gridmap< char, 0x40 >	cm_base_

Astar::Gridmap< char, 0x40 >	cm_hist_

Astar::Gridmap< bbf::BinaryBayesFilter, 0x20 >	cm_hist_bbf_

Astar::Gridmap< char, 0x80 >	cm_hyst_

Astar::Gridmap< char, 0x80 >	cm_rough_

Astar::Gridmap< char, 0x80 >	cm_rough_base_

int	cnt_stuck_

Astar::Gridmap< float >	cost_estim_cache_

ros::Duration	costmap_watchdog_

DebugMode	debug_out_

diagnostic_updater::Updater	diag_updater_

Astar::Vecf	ec_

Astar::Vecf	ec_rough_

int	esc_angle_

int	esc_range_

double	esc_range_f_

bool	escaping_

Astar::Vecf	euclid_cost_coef_

bool	fast_map_update_

bool	find_best_

bool	force_goal_orientation_

float	freq_

float	freq_min_

geometry_msgs::PoseStamped	goal_

geometry_msgs::PoseStamped	goal_raw_

int	goal_tolerance_ang_

double	goal_tolerance_ang_f_

double	goal_tolerance_ang_finish_

int	goal_tolerance_lin_

double	goal_tolerance_lin_f_

bool	goal_updated_

bool	has_goal_

bool	has_map_

bool	has_start_

int	hist_ignore_range_

double	hist_ignore_range_f_

int	hist_ignore_range_max_

double	hist_ignore_range_max_f_

JumpDetector	jump_

ros::Time	last_costmap_

int	local_range_

double	local_range_f_

int	longcut_range_

double	longcut_range_f_

std_msgs::Header	map_header_

costmap_cspace_msgs::MapMetaData3D	map_info_

float	max_ang_vel_

int	max_retry_num_

float	max_vel_

float	min_curve_raduis_

MotionCache	motion_cache_

MotionCache	motion_cache_linear_

ros::NodeHandle	nh_

int	num_task_

bool	overwrite_cost_

PathInterpolator	path_interpolator_

ros::NodeHandle	pnh_

ros::Publisher	pub_debug_

ros::Publisher	pub_end_

ros::Publisher	pub_hist_

ros::Publisher	pub_path_

ros::Publisher	pub_path_poses_

ros::Publisher	pub_path_velocity_

ros::Publisher	pub_start_

ros::Publisher	pub_status_

int	range_

float	remember_hit_odds_

float	remember_miss_odds_

bool	remember_updates_

Astar::Vecf	resolution_

std::string	robot_frame_

RotationCache	rot_cache_

bool	rough_

float	rough_cost_max_

std::vector< Astar::Vec >	search_list_

std::vector< Astar::Vec >	search_list_rough_

float	search_range_

ros::ServiceServer	srs_forget_

ros::ServiceServer	srs_make_plan_

geometry_msgs::PoseStamped	start_

planner_cspace_msgs::PlannerStatus	status_

ros::Subscriber	sub_goal_

ros::Subscriber	sub_map_

ros::Subscriber	sub_map_update_

float	sw_wait_

bool	temporary_escape_

tf2_ros::Buffer	tfbuf_

tf2_ros::TransformListener	tfl_

int	tolerance_angle_

double	tolerance_angle_f_

int	tolerance_range_

double	tolerance_range_f_

int	unknown_cost_

bool	use_path_with_velocity_

Detailed Description

Definition at line 71 of file planner_3d.cpp.

Member Typedef Documentation

using Planner3dNode::Astar = GridAstar<3, 2>

Definition at line 74 of file planner_3d.cpp.

using Planner3dNode::Planner3DActionServer = actionlib::SimpleActionServer<move_base_msgs::MoveBaseAction>

protected

Definition at line 77 of file planner_3d.cpp.

Member Enumeration Documentation

enum Planner3dNode::DebugMode

protected

Enumerator
DEBUG_HYSTERESIS
DEBUG_COST_ESTIM

Definition at line 211 of file planner_3d.cpp.

Constructor & Destructor Documentation

Planner3dNode::Planner3dNode ( )

inline

Definition at line 1156 of file planner_3d.cpp.

Member Function Documentation

void Planner3dNode::cbAction ( )

inlineprotected

Definition at line 1121 of file planner_3d.cpp.

float Planner3dNode::cbCost	(	const Astar::Vec &	s,
		Astar::Vec &	e,
		const Astar::Vec &	v_goal,
		const Astar::Vec &	v_start,
		const bool	hyst
	)

inlineprotected

Definition at line 1718 of file planner_3d.cpp.

float Planner3dNode::cbCostEstim	(	const Astar::Vec &	s,
		const Astar::Vec &	e
	)

inlineprotected

Definition at line 1670 of file planner_3d.cpp.

bool Planner3dNode::cbForget	(	std_srvs::EmptyRequest &	req,
		std_srvs::EmptyResponse &	res
	)

inlineprotected

Definition at line 239 of file planner_3d.cpp.

void Planner3dNode::cbGoal ( const geometry_msgs::PoseStamped::ConstPtr & msg )

inlineprotected

Definition at line 370 of file planner_3d.cpp.

bool Planner3dNode::cbMakePlan	(	nav_msgs::GetPlan::Request &	req,
		nav_msgs::GetPlan::Response &	res
	)

inlineprotected

Definition at line 248 of file planner_3d.cpp.

void Planner3dNode::cbMap ( const costmap_cspace_msgs::CSpace3D::ConstPtr & msg )

inlineprotected

Definition at line 977 of file planner_3d.cpp.

void Planner3dNode::cbMapUpdate ( const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr & msg )

inlineprotected

Definition at line 744 of file planner_3d.cpp.

void Planner3dNode::cbPreempt ( )

inlineprotected

Definition at line 379 of file planner_3d.cpp.

bool Planner3dNode::cbProgress ( const std::list< Astar::Vec > & path_grid )

inlineprotected

Definition at line 1663 of file planner_3d.cpp.

std::vector<Astar::Vec>& Planner3dNode::cbSearch	(	const Astar::Vec &	p,
		const Astar::Vec &	s,
		const Astar::Vec &	e
	)

inlineprotected

Definition at line 1647 of file planner_3d.cpp.

void Planner3dNode::diagnoseStatus ( diagnostic_updater::DiagnosticStatusWrapper & stat )

inlineprotected

Definition at line 1879 of file planner_3d.cpp.

float Planner3dNode::euclidCost	(	const Astar::Vec &	v,
		const Astar::Vecf	coef
	)		const

inlineprotected

Definition at line 111 of file planner_3d.cpp.

float Planner3dNode::euclidCost ( const Astar::Vec & v ) const

inlineprotected

Definition at line 127 of file planner_3d.cpp.

void Planner3dNode::fillCostmap	(	reservable_priority_queue< Astar::PriorityVec > &	open,
		Astar::Gridmap< float > &	g,
		const Astar::Vec &	s,
		const Astar::Vec &	e
	)

inlineprotected

Definition at line 424 of file planner_3d.cpp.

bool Planner3dNode::makePlan	(	const geometry_msgs::Pose &	gs,
		const geometry_msgs::Pose &	ge,
		nav_msgs::Path &	path,
		bool	hyst
	)

inlineprotected

Definition at line 1450 of file planner_3d.cpp.

void Planner3dNode::publishCostmap ( )

inlineprotected

Definition at line 683 of file planner_3d.cpp.

void Planner3dNode::publishEmptyPath ( )

inlineprotected

Definition at line 727 of file planner_3d.cpp.

bool Planner3dNode::searchAvailablePos	(	Astar::Vec &	s,
		const int	xy_range,
		const int	angle_range,
		const int	cost_acceptable = `50`,
		const int	min_xy_range = `0`
	)

inlineprotected

Definition at line 544 of file planner_3d.cpp.

bool Planner3dNode::setGoal ( const geometry_msgs::PoseStamped & msg )

inlineprotected

Definition at line 386 of file planner_3d.cpp.

void Planner3dNode::spin ( )

inline

Definition at line 1313 of file planner_3d.cpp.

bool Planner3dNode::switchDetect ( const nav_msgs::Path & path )

inlineprotected

Definition at line 1684 of file planner_3d.cpp.

bool Planner3dNode::updateGoal ( const bool goal_changed = true )

inlineprotected

Definition at line 595 of file planner_3d.cpp.

void Planner3dNode::updateStart ( )

inlineprotected

Definition at line 1128 of file planner_3d.cpp.

Member Data Documentation

std::shared_ptr<Planner3DActionServer> Planner3dNode::act_

protected

Definition at line 95 of file planner_3d.cpp.

float Planner3dNode::angle_resolution_aspect_

protected

Definition at line 209 of file planner_3d.cpp.

Astar Planner3dNode::as_

protected

Definition at line 99 of file planner_3d.cpp.

CostCoeff Planner3dNode::cc_

protected

Definition at line 196 of file planner_3d.cpp.

Astar::Gridmap<char, 0x40> Planner3dNode::cm_

protected

Definition at line 100 of file planner_3d.cpp.

Astar::Gridmap<char, 0x40> Planner3dNode::cm_base_

protected

Definition at line 104 of file planner_3d.cpp.

Astar::Gridmap<char, 0x40> Planner3dNode::cm_hist_

protected

Definition at line 102 of file planner_3d.cpp.

Astar::Gridmap<bbf::BinaryBayesFilter, 0x20> Planner3dNode::cm_hist_bbf_

protected

Definition at line 101 of file planner_3d.cpp.

Astar::Gridmap<char, 0x80> Planner3dNode::cm_hyst_

protected

Definition at line 106 of file planner_3d.cpp.

Astar::Gridmap<char, 0x80> Planner3dNode::cm_rough_

protected

Definition at line 103 of file planner_3d.cpp.

Astar::Gridmap<char, 0x80> Planner3dNode::cm_rough_base_

protected

Definition at line 105 of file planner_3d.cpp.

int Planner3dNode::cnt_stuck_

protected

Definition at line 230 of file planner_3d.cpp.

Astar::Gridmap<float> Planner3dNode::cost_estim_cache_

protected

Definition at line 107 of file planner_3d.cpp.

ros::Duration Planner3dNode::costmap_watchdog_

protected

Definition at line 236 of file planner_3d.cpp.

DebugMode Planner3dNode::debug_out_

protected

Definition at line 216 of file planner_3d.cpp.

diagnostic_updater::Updater Planner3dNode::diag_updater_

protected

Definition at line 235 of file planner_3d.cpp.

Astar::Vecf Planner3dNode::ec_

protected

Definition at line 201 of file planner_3d.cpp.

Astar::Vecf Planner3dNode::ec_rough_

protected

Definition at line 202 of file planner_3d.cpp.

int Planner3dNode::esc_angle_

protected

Definition at line 148 of file planner_3d.cpp.

int Planner3dNode::esc_range_

protected

Definition at line 147 of file planner_3d.cpp.

double Planner3dNode::esc_range_f_

protected

Definition at line 149 of file planner_3d.cpp.

bool Planner3dNode::escaping_

protected

Definition at line 228 of file planner_3d.cpp.

Astar::Vecf Planner3dNode::euclid_cost_coef_

protected

Definition at line 109 of file planner_3d.cpp.

bool Planner3dNode::fast_map_update_

protected

Definition at line 161 of file planner_3d.cpp.

bool Planner3dNode::find_best_

protected

Definition at line 220 of file planner_3d.cpp.

bool Planner3dNode::force_goal_orientation_

protected

Definition at line 226 of file planner_3d.cpp.

float Planner3dNode::freq_

protected

Definition at line 139 of file planner_3d.cpp.

float Planner3dNode::freq_min_

protected

Definition at line 140 of file planner_3d.cpp.

geometry_msgs::PoseStamped Planner3dNode::goal_

protected

Definition at line 199 of file planner_3d.cpp.

geometry_msgs::PoseStamped Planner3dNode::goal_raw_

protected

Definition at line 200 of file planner_3d.cpp.

int Planner3dNode::goal_tolerance_ang_

protected

Definition at line 208 of file planner_3d.cpp.

double Planner3dNode::goal_tolerance_ang_f_

protected

Definition at line 205 of file planner_3d.cpp.

double Planner3dNode::goal_tolerance_ang_finish_

protected

Definition at line 206 of file planner_3d.cpp.

int Planner3dNode::goal_tolerance_lin_

protected

Definition at line 207 of file planner_3d.cpp.

double Planner3dNode::goal_tolerance_lin_f_

protected

Definition at line 204 of file planner_3d.cpp.

bool Planner3dNode::goal_updated_

protected

Definition at line 159 of file planner_3d.cpp.

bool Planner3dNode::has_goal_

protected

Definition at line 157 of file planner_3d.cpp.

bool Planner3dNode::has_map_

protected

Definition at line 156 of file planner_3d.cpp.

bool Planner3dNode::has_start_

protected

Definition at line 158 of file planner_3d.cpp.

int Planner3dNode::hist_ignore_range_

protected

Definition at line 165 of file planner_3d.cpp.

double Planner3dNode::hist_ignore_range_f_

protected

Definition at line 164 of file planner_3d.cpp.

int Planner3dNode::hist_ignore_range_max_

protected

Definition at line 167 of file planner_3d.cpp.

double Planner3dNode::hist_ignore_range_max_f_

protected

Definition at line 166 of file planner_3d.cpp.

JumpDetector Planner3dNode::jump_

protected

Definition at line 174 of file planner_3d.cpp.

ros::Time Planner3dNode::last_costmap_

protected

Definition at line 237 of file planner_3d.cpp.

int Planner3dNode::local_range_

protected

Definition at line 143 of file planner_3d.cpp.

double Planner3dNode::local_range_f_

protected

Definition at line 144 of file planner_3d.cpp.

int Planner3dNode::longcut_range_

protected

Definition at line 145 of file planner_3d.cpp.

double Planner3dNode::longcut_range_f_

protected

Definition at line 146 of file planner_3d.cpp.

std_msgs::Header Planner3dNode::map_header_

protected

Definition at line 136 of file planner_3d.cpp.

costmap_cspace_msgs::MapMetaData3D Planner3dNode::map_info_

protected

Definition at line 135 of file planner_3d.cpp.

float Planner3dNode::max_ang_vel_

protected

Definition at line 138 of file planner_3d.cpp.

int Planner3dNode::max_retry_num_

protected

Definition at line 177 of file planner_3d.cpp.

float Planner3dNode::max_vel_

protected

Definition at line 137 of file planner_3d.cpp.

float Planner3dNode::min_curve_raduis_

protected

Definition at line 172 of file planner_3d.cpp.

MotionCache Planner3dNode::motion_cache_

protected

Definition at line 232 of file planner_3d.cpp.

MotionCache Planner3dNode::motion_cache_linear_

protected

Definition at line 233 of file planner_3d.cpp.

ros::NodeHandle Planner3dNode::nh_

protected

Definition at line 79 of file planner_3d.cpp.

int Planner3dNode::num_task_

protected

Definition at line 179 of file planner_3d.cpp.

bool Planner3dNode::overwrite_cost_

protected

Definition at line 155 of file planner_3d.cpp.

PathInterpolator Planner3dNode::path_interpolator_

protected

Definition at line 133 of file planner_3d.cpp.

ros::NodeHandle Planner3dNode::pnh_

protected

Definition at line 80 of file planner_3d.cpp.

ros::Publisher Planner3dNode::pub_debug_

protected

Definition at line 87 of file planner_3d.cpp.

ros::Publisher Planner3dNode::pub_end_

protected

Definition at line 90 of file planner_3d.cpp.

ros::Publisher Planner3dNode::pub_hist_

protected

Definition at line 88 of file planner_3d.cpp.

ros::Publisher Planner3dNode::pub_path_

protected

Definition at line 84 of file planner_3d.cpp.

ros::Publisher Planner3dNode::pub_path_poses_

protected

Definition at line 86 of file planner_3d.cpp.

ros::Publisher Planner3dNode::pub_path_velocity_

protected

Definition at line 85 of file planner_3d.cpp.

ros::Publisher Planner3dNode::pub_start_

protected

Definition at line 89 of file planner_3d.cpp.

ros::Publisher Planner3dNode::pub_status_

protected

Definition at line 91 of file planner_3d.cpp.

int Planner3dNode::range_

protected

Definition at line 142 of file planner_3d.cpp.

float Planner3dNode::remember_hit_odds_

protected

Definition at line 169 of file planner_3d.cpp.

float Planner3dNode::remember_miss_odds_

protected

Definition at line 170 of file planner_3d.cpp.

bool Planner3dNode::remember_updates_

protected

Definition at line 160 of file planner_3d.cpp.

Astar::Vecf Planner3dNode::resolution_

protected

Definition at line 203 of file planner_3d.cpp.

std::string Planner3dNode::robot_frame_

protected

Definition at line 175 of file planner_3d.cpp.

RotationCache Planner3dNode::rot_cache_

protected

Definition at line 132 of file planner_3d.cpp.

bool Planner3dNode::rough_

protected

Definition at line 224 of file planner_3d.cpp.

float Planner3dNode::rough_cost_max_

protected

Definition at line 223 of file planner_3d.cpp.

std::vector<Astar::Vec> Planner3dNode::search_list_

protected

Definition at line 162 of file planner_3d.cpp.

std::vector<Astar::Vec> Planner3dNode::search_list_rough_

protected

Definition at line 163 of file planner_3d.cpp.

float Planner3dNode::search_range_

protected

Definition at line 141 of file planner_3d.cpp.

ros::ServiceServer Planner3dNode::srs_forget_

protected

Definition at line 92 of file planner_3d.cpp.

ros::ServiceServer Planner3dNode::srs_make_plan_

protected

Definition at line 93 of file planner_3d.cpp.

geometry_msgs::PoseStamped Planner3dNode::start_

protected

Definition at line 198 of file planner_3d.cpp.

planner_cspace_msgs::PlannerStatus Planner3dNode::status_

protected

Definition at line 218 of file planner_3d.cpp.

ros::Subscriber Planner3dNode::sub_goal_

protected

Definition at line 83 of file planner_3d.cpp.

ros::Subscriber Planner3dNode::sub_map_

protected

Definition at line 81 of file planner_3d.cpp.

ros::Subscriber Planner3dNode::sub_map_update_

protected

Definition at line 82 of file planner_3d.cpp.

float Planner3dNode::sw_wait_

protected

Definition at line 221 of file planner_3d.cpp.

bool Planner3dNode::temporary_escape_

protected

Definition at line 168 of file planner_3d.cpp.

tf2_ros::Buffer Planner3dNode::tfbuf_

protected

Definition at line 96 of file planner_3d.cpp.

tf2_ros::TransformListener Planner3dNode::tfl_

protected

Definition at line 97 of file planner_3d.cpp.

int Planner3dNode::tolerance_angle_

protected

Definition at line 151 of file planner_3d.cpp.

double Planner3dNode::tolerance_angle_f_

protected

Definition at line 153 of file planner_3d.cpp.

int Planner3dNode::tolerance_range_

protected

Definition at line 150 of file planner_3d.cpp.

double Planner3dNode::tolerance_range_f_

protected

Definition at line 152 of file planner_3d.cpp.

int Planner3dNode::unknown_cost_

protected

Definition at line 154 of file planner_3d.cpp.

bool Planner3dNode::use_path_with_velocity_

protected

Definition at line 171 of file planner_3d.cpp.

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

planner_3d.cpp

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation