This abstract class defines an interface for local planners. More...

#include <planner_interface.h>

Inheritance diagram for teb_local_planner::PlannerInterface:

Public Member Functions
virtual void	clearPlanner ()=0
	Reset the planner. More...

virtual void	computeCurrentCost (std::vector< double > &cost, double obst_cost_scale=1.0, bool alternative_time_cost=false)

virtual bool	isHorizonReductionAppropriate (const std::vector< geometry_msgs::PoseStamped > &initial_plan) const
	Implement this method to check if the planner suggests a shorter horizon (e.g. to resolve problems) More...

virtual bool	isTrajectoryFeasible (base_local_planner::CostmapModel *costmap_model, const std::vector< geometry_msgs::Point > &footprint_spec, double inscribed_radius=0.0, double circumscribed_radius=0.0, int look_ahead_idx=-1)=0
	Check whether the planned trajectory is feasible or not. More...

	PlannerInterface ()
	Default constructor. More...

virtual void	setPreferredTurningDir (RotType dir)
	Prefer a desired initial turning direction (by penalizing the opposing one) More...

virtual void	visualize ()
	Visualize planner specific stuff. Overwrite this method to provide an interface to perform all planner related visualizations at once. More...

virtual	~PlannerInterface ()
	Virtual destructor. More...

Plan a trajectory
virtual bool	plan (const std::vector< geometry_msgs::PoseStamped > &initial_plan, const geometry_msgs::Twist *start_vel=NULL, bool free_goal_vel=false)=0
	Plan a trajectory based on an initial reference plan. More...

virtual bool	plan (const tf::Pose &start, const tf::Pose &goal, const geometry_msgs::Twist *start_vel=NULL, bool free_goal_vel=false)=0
	Plan a trajectory between a given start and goal pose (tf::Pose version). More...

virtual bool	plan (const PoseSE2 &start, const PoseSE2 &goal, const geometry_msgs::Twist *start_vel=NULL, bool free_goal_vel=false)=0
	Plan a trajectory between a given start and goal pose. More...

virtual bool	getVelocityCommand (double &vx, double &vy, double &omega) const =0
	Get the velocity command from a previously optimized plan to control the robot at the current sampling interval. More...

Detailed Description

This abstract class defines an interface for local planners.

Definition at line 66 of file planner_interface.h.

Constructor & Destructor Documentation

teb_local_planner::PlannerInterface::PlannerInterface ( )

inline

Default constructor.

Definition at line 73 of file planner_interface.h.

virtual teb_local_planner::PlannerInterface::~PlannerInterface ( )

inlinevirtual

Virtual destructor.

Definition at line 79 of file planner_interface.h.

Member Function Documentation

virtual void teb_local_planner::PlannerInterface::clearPlanner ( )

pure virtual

Reset the planner.

Implemented in teb_local_planner::HomotopyClassPlanner, and teb_local_planner::TebOptimalPlanner.

virtual void teb_local_planner::PlannerInterface::computeCurrentCost	(	std::vector< double > &	cost,
		double	obst_cost_scale = `1.0`,
		bool	alternative_time_cost = `false`
	)

inlinevirtual

Compute and return the cost of the current optimization graph (supports multiple trajectories)

Parameters

[out]	cost	current cost value for each trajectory [for a planner with just a single trajectory: size=1, vector will not be cleared]
	obst_cost_scale	Specify extra scaling for obstacle costs
	alternative_time_cost	Replace the cost for the time optimal objective by the actual (weighted) transition time

Definition at line 198 of file planner_interface.h.

virtual bool teb_local_planner::PlannerInterface::getVelocityCommand	(	double &	vx,
		double &	vy,
		double &	omega
	)		const

pure virtual

Get the velocity command from a previously optimized plan to control the robot at the current sampling interval.

Warning: Call plan() first and check if the generated plan is feasible.

Parameters

[out]	vx	translational velocity [m/s]
[out]	vy	strafing velocity which can be nonzero for holonomic robots [m/s]
[out]	omega	rotational velocity [rad/s]

Returns: true if command is valid, false otherwise

Implemented in teb_local_planner::TebOptimalPlanner, and teb_local_planner::HomotopyClassPlanner.

virtual bool teb_local_planner::PlannerInterface::isHorizonReductionAppropriate ( const std::vector< geometry_msgs::PoseStamped > & initial_plan ) const

inlinevirtual

Implement this method to check if the planner suggests a shorter horizon (e.g. to resolve problems)

This method is intendend to be called after determining that a trajectory provided by the planner is infeasible. In some cases a reduction of the horizon length might resolve problems. E.g. if a planned trajectory cut corners. Since the trajectory representation is managed by the planner, it is part of the base planner_interface. The implementation is optional. If not specified, the method returns false.

Parameters

initial_plan The intial and transformed plan (part of the local map and pruned up to the robot position)

Returns: true, if the planner suggests a shorter horizon, false otherwise.

Reimplemented in teb_local_planner::TebOptimalPlanner, and teb_local_planner::HomotopyClassPlanner.

Definition at line 189 of file planner_interface.h.

virtual bool teb_local_planner::PlannerInterface::isTrajectoryFeasible	(	base_local_planner::CostmapModel *	costmap_model,
		const std::vector< geometry_msgs::Point > &	footprint_spec,
		double	inscribed_radius = `0.0`,
		double	circumscribed_radius = `0.0`,
		int	look_ahead_idx = `-1`
	)

pure virtual

Check whether the planned trajectory is feasible or not.

This method currently checks only that the trajectory, or a part of the trajectory is collision free. Obstacles are here represented as costmap instead of the internal ObstacleContainer.

Parameters

costmap_model	Pointer to the costmap model
footprint_spec	The specification of the footprint of the robot in world coordinates
inscribed_radius	The radius of the inscribed circle of the robot
circumscribed_radius	The radius of the circumscribed circle of the robot
look_ahead_idx	Number of poses along the trajectory that should be verified, if -1, the complete trajectory will be checked.

Returns: true, if the robot footprint along the first part of the trajectory intersects with any obstacle in the costmap, false otherwise.

Implemented in teb_local_planner::TebOptimalPlanner, and teb_local_planner::HomotopyClassPlanner.

virtual bool teb_local_planner::PlannerInterface::plan	(	const std::vector< geometry_msgs::PoseStamped > &	initial_plan,
		const geometry_msgs::Twist *	start_vel = `NULL`,
		bool	free_goal_vel = `false`
	)

pure virtual

Plan a trajectory based on an initial reference plan.

Provide this method to create and optimize a trajectory that is initialized according to an initial reference plan (given as a container of poses).

Parameters

initial_plan	vector of geometry_msgs::PoseStamped
start_vel	Current start velocity (e.g. the velocity of the robot, only linear.x and angular.z are used)
free_goal_vel	if `true`, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false)

Returns: true if planning was successful, false otherwise

Implemented in teb_local_planner::TebOptimalPlanner, and teb_local_planner::HomotopyClassPlanner.

virtual bool teb_local_planner::PlannerInterface::plan	(	const tf::Pose &	start,
		const tf::Pose &	goal,
		const geometry_msgs::Twist *	start_vel = `NULL`,
		bool	free_goal_vel = `false`
	)

pure virtual

Plan a trajectory between a given start and goal pose (tf::Pose version).

Provide this method to create and optimize a trajectory that is initialized between a given start and goal pose.

Parameters

start	tf::Pose containing the start pose of the trajectory
goal	tf::Pose containing the goal pose of the trajectory
start_vel	Current start velocity (e.g. the velocity of the robot, only linear.x and angular.z are used)
free_goal_vel	if `true`, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false)

Returns: true if planning was successful, false otherwise

Implemented in teb_local_planner::TebOptimalPlanner, and teb_local_planner::HomotopyClassPlanner.

virtual bool teb_local_planner::PlannerInterface::plan	(	const PoseSE2 &	start,
		const PoseSE2 &	goal,
		const geometry_msgs::Twist *	start_vel = `NULL`,
		bool	free_goal_vel = `false`
	)

pure virtual

Plan a trajectory between a given start and goal pose.

Provide this method to create and optimize a trajectory that is initialized between a given start and goal pose.

Parameters

start	PoseSE2 containing the start pose of the trajectory
goal	PoseSE2 containing the goal pose of the trajectory
start_vel	Initial velocity at the start pose (twist msg containing the translational and angular velocity).
free_goal_vel	if `true`, a nonzero final velocity at the goal pose is allowed, otherwise the final velocity will be zero (default: false)

Returns: true if planning was successful, false otherwise

Implemented in teb_local_planner::TebOptimalPlanner, and teb_local_planner::HomotopyClassPlanner.

virtual void teb_local_planner::PlannerInterface::setPreferredTurningDir ( RotType dir )

inlinevirtual

Prefer a desired initial turning direction (by penalizing the opposing one)

A desired (initial) turning direction might be specified in case the planned trajectory oscillates between two solutions (in the same equivalence class!) with similar cost. Check the parameters in order to adjust the weight of the penalty. Initial means that the penalty is applied only to the first few poses of the trajectory.

Parameters

dir	This parameter might be RotType::left (prefer left), RotType::right (prefer right) or RotType::none (prefer none)

Reimplemented in teb_local_planner::HomotopyClassPlanner, and teb_local_planner::TebOptimalPlanner.

Definition at line 152 of file planner_interface.h.

virtual void teb_local_planner::PlannerInterface::visualize ( )

inlinevirtual

Visualize planner specific stuff. Overwrite this method to provide an interface to perform all planner related visualizations at once.

Reimplemented in teb_local_planner::TebOptimalPlanner, and teb_local_planner::HomotopyClassPlanner.

Definition at line 158 of file planner_interface.h.

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

planner_interface.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation