Public Types | Public Member Functions | Protected Member Functions | Private Attributes | List of all members
mbf_abstract_nav::PlannerAction Class Reference

#include <planner_action.h>

Inheritance diagram for mbf_abstract_nav::PlannerAction:
Inheritance graph
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Public Types

typedef boost::shared_ptr< PlannerActionPtr
 
- Public Types inherited from mbf_abstract_nav::AbstractAction< mbf_msgs::GetPathAction, AbstractPlannerExecution >
typedef actionlib::ActionServer< mbf_msgs::GetPathAction >::GoalHandle GoalHandle
 
typedef boost::shared_ptr< AbstractActionPtr
 
typedef boost::function< void(GoalHandle &goal_handle, AbstractPlannerExecution &execution)> RunMethod
 

Public Member Functions

 PlannerAction (const std::string &name, const RobotInformation &robot_info)
 
void run (GoalHandle &goal_handle, AbstractPlannerExecution &execution)
 
- Public Member Functions inherited from mbf_abstract_nav::AbstractAction< mbf_msgs::GetPathAction, AbstractPlannerExecution >
 AbstractAction (const std::string &name, const RobotInformation &robot_info, const RunMethod run_method)
 
virtual void cancel (GoalHandle &goal_handle)
 
virtual void cancelAll ()
 
virtual void reconfigureAll (mbf_abstract_nav::MoveBaseFlexConfig &config, uint32_t level)
 
virtual void runAndCleanUp (GoalHandle &goal_handle, typename AbstractPlannerExecution ::Ptr execution_ptr)
 
virtual void start (GoalHandle &goal_handle, typename AbstractPlannerExecution ::Ptr execution_ptr)
 

Protected Member Functions

bool transformPlanToGlobalFrame (std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan)
 Transforms a plan to the global frame (global_frame_) coord system. More...
 

Private Attributes

ros::Publisher current_goal_pub_
 Publisher to publish the current goal pose, which is used for path planning. More...
 
unsigned int path_seq_count_
 Path sequence counter. More...
 

Additional Inherited Members

- Protected Attributes inherited from mbf_abstract_nav::AbstractAction< mbf_msgs::GetPathAction, AbstractPlannerExecution >
std::map< uint8_t, ConcurrencySlot > concurrency_slots_
 
const std::string & name_
 
const RobotInformationrobot_info_
 
RunMethod run_
 
boost::mutex slot_map_mtx_
 
boost::thread_group threads_
 

Detailed Description

Definition at line 53 of file planner_action.h.

Member Typedef Documentation

◆ Ptr

Definition at line 57 of file planner_action.h.

Constructor & Destructor Documentation

◆ PlannerAction()

mbf_abstract_nav::PlannerAction::PlannerAction ( const std::string &  name,
const RobotInformation robot_info 
)

Definition at line 47 of file planner_action.cpp.

Member Function Documentation

◆ run()

void mbf_abstract_nav::PlannerAction::run ( GoalHandle goal_handle,
AbstractPlannerExecution execution 
)

Definition at line 57 of file planner_action.cpp.

◆ transformPlanToGlobalFrame()

bool mbf_abstract_nav::PlannerAction::transformPlanToGlobalFrame ( std::vector< geometry_msgs::PoseStamped > &  plan,
std::vector< geometry_msgs::PoseStamped > &  global_plan 
)
protected

Transforms a plan to the global frame (global_frame_) coord system.

Parameters
planInput plan to be transformed.
global_planOutput plan, which is then transformed to the global frame.
Returns
true, if the transformation succeeded, false otherwise

Definition at line 267 of file planner_action.cpp.

Member Data Documentation

◆ current_goal_pub_

ros::Publisher mbf_abstract_nav::PlannerAction::current_goal_pub_
private

Publisher to publish the current goal pose, which is used for path planning.

Definition at line 81 of file planner_action.h.

◆ path_seq_count_

unsigned int mbf_abstract_nav::PlannerAction::path_seq_count_
private

Path sequence counter.

Definition at line 84 of file planner_action.h.


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


mbf_abstract_nav
Author(s): Sebastian Pütz
autogenerated on Sat Oct 12 2019 04:02:25