Classes | |
class | CostmapModel |
A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using the costmap. More... | |
class | FootprintHelper |
class | FootprintHelperTest |
class | LatchedStopRotateController |
class | LineIterator |
class | LocalPlannerLimits |
class | LocalPlannerUtil |
Helper class implementing infrastructure code many local planner implementations may need. More... | |
class | MapCell |
Stores path distance and goal distance information used for scoring trajectories. More... | |
class | MapGrid |
A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller. More... | |
class | MapGridCostFunction |
class | MapGridVisualizer |
class | ObstacleCostFunction |
Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory. More... | |
class | OdometryHelperRos |
class | OscillationCostFunction |
class | PlanarLaserScan |
Stores a scan from a planar laser that can be used to clear freespace. More... | |
class | PointGrid |
A class that implements the WorldModel interface to provide free-space collision checks for the trajectory controller. This class stores points binned into a grid and performs point-in-polygon checks when necessary to determine the legality of a footprint at a given position/orientation. More... | |
class | PreferForwardCostFunction |
class | SimpleScoredSamplingPlanner |
Generates a local plan using the given generator and cost functions. Assumes less cost are best, and negative costs indicate infinite costs. More... | |
class | SimpleTrajectoryGenerator |
class | Trajectory |
Holds a trajectory generated by considering an x, y, and theta velocity. More... | |
class | TrajectoryCostFunction |
Provides an interface for critics of trajectories During each sampling run, a batch of many trajectories will be scored using such a cost function. The prepare method is called before each batch run, and then for each trajectory of the sampling set, score_trajectory may be called. More... | |
class | TrajectoryGeneratorTest |
class | TrajectoryPlanner |
Computes control velocities for a robot given a costmap, a plan, and the robot's position in the world. More... | |
class | TrajectoryPlannerROS |
A ROS wrapper for the trajectory controller that queries the param server to construct a controller. More... | |
class | TrajectoryPlannerTest |
class | TrajectorySampleGenerator |
Provides an interface for navigation trajectory generators. More... | |
class | TrajectorySearch |
Interface for modules finding a trajectory to use for navigation commands next. More... | |
class | TwirlingCostFunction |
class | VelocityIterator |
class | VoxelGridModel |
A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using a 3D voxel grid. More... | |
class | WavefrontMapAccessor |
class | WorldModel |
An interface the trajectory controller uses to interact with the world regardless of the underlying world model. More... | |
Enumerations | |
enum | CostAggregationType { Last, Sum, Product } |
Functions | |
double | getGoalOrientationAngleDifference (const geometry_msgs::PoseStamped &global_pose, double goal_th) |
return angle difference to goal to check if the goal orientation has been achieved More... | |
bool | getGoalPose (const tf2_ros::Buffer &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const std::string &global_frame, geometry_msgs::PoseStamped &goal_pose) |
Returns last pose in plan. More... | |
double | getGoalPositionDistance (const geometry_msgs::PoseStamped &global_pose, double goal_x, double goal_y) |
return squared distance to check if the goal position has been achieved More... | |
bool | isGoalReached (const tf2_ros::Buffer &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2D &costmap GOAL_ATTRIBUTE_UNUSED, const std::string &global_frame, geometry_msgs::PoseStamped &global_pose, const nav_msgs::Odometry &base_odom, double rot_stopped_vel, double trans_stopped_vel, double xy_goal_tolerance, double yaw_goal_tolerance) |
bool | isGoalReached (const tf2_ros::Buffer &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2D &costmap, const std::string &global_frame, geometry_msgs::PoseStamped &global_pose, const nav_msgs::Odometry &base_odom, double rot_stopped_vel, double trans_stopped_vel, double xy_goal_tolerance, double yaw_goal_tolerance) |
Check if the goal pose has been achieved. More... | |
void | prunePlan (const geometry_msgs::PoseStamped &global_pose, std::vector< geometry_msgs::PoseStamped > &plan, std::vector< geometry_msgs::PoseStamped > &global_plan) |
Trim off parts of the global plan that are far enough behind the robot. More... | |
void | publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, const ros::Publisher &pub) |
Publish a plan for visualization purposes. More... | |
TrajectoryPlannerTest * | setup_testclass_singleton () |
bool | stopped (const nav_msgs::Odometry &base_odom, const double &rot_stopped_velocity, const double &trans_stopped_velocity) |
Check whether the robot is stopped or not. More... | |
TEST (FootprintHelperTest, correctFootprint) | |
TEST (FootprintHelperTest, correctLineCells) | |
TEST (MapGridTest, adjustPlan) | |
TEST (MapGridTest, adjustPlan2) | |
TEST (MapGridTest, adjustPlanEmpty) | |
TEST (MapGridTest, copyConstructor) | |
TEST (MapGridTest, distancePropagation) | |
TEST (MapGridTest, getIndex) | |
TEST (MapGridTest, initNull) | |
TEST (MapGridTest, operatorBrackets) | |
TEST (MapGridTest, properGridConstruction) | |
TEST (MapGridTest, reset) | |
TEST (MapGridTest, sizeCheck) | |
TEST (TrajectoryPlannerTest, checkGoalDistance) | |
TEST (TrajectoryPlannerTest, checkPathDistance) | |
TEST (TrajectoryPlannerTest, footprintObstacles) | |
TEST (VelocityIteratorTest, test1) | |
TEST (VelocityIteratorTest, test1_neg) | |
TEST (VelocityIteratorTest, test1_pos) | |
TEST (VelocityIteratorTest, test3) | |
TEST (VelocityIteratorTest, test4) | |
TEST (VelocityIteratorTest, test_cranky) | |
TEST (VelocityIteratorTest, test_shifted) | |
TEST (VelocityIteratorTest, testsingle) | |
TEST (VelocityIteratorTest, testsingle_neg) | |
TEST (VelocityIteratorTest, testsingle_pos) | |
bool | transformGlobalPlan (const tf2_ros::Buffer &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const geometry_msgs::PoseStamped &global_robot_pose, const costmap_2d::Costmap2D &costmap, const std::string &global_frame, std::vector< geometry_msgs::PoseStamped > &transformed_plan) |
Transforms the global plan of the robot from the planner frame to the frame of the costmap, selects only the (first) part of the plan that is within the costmap area. More... | |
Variables | |
TrajectoryPlannerTest * | tct = NULL |
when scoring a trajectory according to the values in mapgrid, we can take return the value of the last point (if no of the earlier points were in return collision), the sum for all points, or the product of all (non-zero) points
Enumerator | |
---|---|
Last | |
Sum | |
Product |
Definition at line 88 of file map_grid_cost_function.h.
double base_local_planner::getGoalOrientationAngleDifference | ( | const geometry_msgs::PoseStamped & | global_pose, |
double | goal_th | ||
) |
return angle difference to goal to check if the goal orientation has been achieved
global_pose | The pose of the robot in the global frame |
goal_x | The desired x value for the goal |
goal_y | The desired y value for the goal |
Definition at line 53 of file goal_functions.cpp.
bool base_local_planner::getGoalPose | ( | const tf2_ros::Buffer & | tf, |
const std::vector< geometry_msgs::PoseStamped > & | global_plan, | ||
const std::string & | global_frame, | ||
geometry_msgs::PoseStamped & | goal_pose | ||
) |
Returns last pose in plan.
tf | A reference to a transform listener |
global_plan | The plan being followed |
global_frame | The global frame of the local planner |
goal_pose | the pose to copy into |
Definition at line 174 of file goal_functions.cpp.
double base_local_planner::getGoalPositionDistance | ( | const geometry_msgs::PoseStamped & | global_pose, |
double | goal_x, | ||
double | goal_y | ||
) |
return squared distance to check if the goal position has been achieved
global_pose | The pose of the robot in the global frame |
goal_x | The desired x value for the goal |
goal_y | The desired y value for the goal |
Definition at line 49 of file goal_functions.cpp.
bool base_local_planner::isGoalReached | ( | const tf2_ros::Buffer & | tf, |
const std::vector< geometry_msgs::PoseStamped > & | global_plan, | ||
const costmap_2d::Costmap2D &costmap | GOAL_ATTRIBUTE_UNUSED, | ||
const std::string & | global_frame, | ||
geometry_msgs::PoseStamped & | global_pose, | ||
const nav_msgs::Odometry & | base_odom, | ||
double | rot_stopped_vel, | ||
double | trans_stopped_vel, | ||
double | xy_goal_tolerance, | ||
double | yaw_goal_tolerance | ||
) |
Definition at line 209 of file goal_functions.cpp.
bool base_local_planner::isGoalReached | ( | const tf2_ros::Buffer & | tf, |
const std::vector< geometry_msgs::PoseStamped > & | global_plan, | ||
const costmap_2d::Costmap2D & | costmap, | ||
const std::string & | global_frame, | ||
geometry_msgs::PoseStamped & | global_pose, | ||
const nav_msgs::Odometry & | base_odom, | ||
double | rot_stopped_vel, | ||
double | trans_stopped_vel, | ||
double | xy_goal_tolerance, | ||
double | yaw_goal_tolerance | ||
) |
Check if the goal pose has been achieved.
tf | A reference to a transform listener |
global_plan | The plan being followed |
costmap_ros | A reference to the costmap object being used by the planner |
global_frame | The global frame of the local planner |
base_odom | The current odometry information for the robot |
rot_stopped_vel | The rotational velocity below which the robot is considered stopped |
trans_stopped_vel | The translational velocity below which the robot is considered stopped |
xy_goal_tolerance | The translational tolerance on reaching the goal |
yaw_goal_tolerance | The rotational tolerance on reaching the goal |
void base_local_planner::prunePlan | ( | const geometry_msgs::PoseStamped & | global_pose, |
std::vector< geometry_msgs::PoseStamped > & | plan, | ||
std::vector< geometry_msgs::PoseStamped > & | global_plan | ||
) |
Trim off parts of the global plan that are far enough behind the robot.
global_pose | The pose of the robot in the global frame |
plan | The plan to be pruned |
global_plan | The plan to be pruned in the frame of the planner |
Definition at line 77 of file goal_functions.cpp.
void base_local_planner::publishPlan | ( | const std::vector< geometry_msgs::PoseStamped > & | path, |
const ros::Publisher & | pub | ||
) |
Publish a plan for visualization purposes.
path | The plan to publish |
pub | The published to use |
r,g,b,a | The color and alpha value to use when publishing |
Definition at line 58 of file goal_functions.cpp.
TrajectoryPlannerTest* base_local_planner::setup_testclass_singleton | ( | ) |
bool base_local_planner::stopped | ( | const nav_msgs::Odometry & | base_odom, |
const double & | rot_stopped_velocity, | ||
const double & | trans_stopped_velocity | ||
) |
Check whether the robot is stopped or not.
base_odom | The current odometry information for the robot |
rot_stopped_velocity | The rotational velocity below which the robot is considered stopped |
trans_stopped_velocity | The translational velocity below which the robot is considered stopped |
Definition at line 239 of file goal_functions.cpp.
base_local_planner::TEST | ( | FootprintHelperTest | , |
correctFootprint | |||
) |
Definition at line 135 of file footprint_helper_test.cpp.
base_local_planner::TEST | ( | FootprintHelperTest | , |
correctLineCells | |||
) |
Definition at line 140 of file footprint_helper_test.cpp.
base_local_planner::TEST | ( | MapGridTest | , |
adjustPlan | |||
) |
Definition at line 113 of file map_grid_test.cpp.
base_local_planner::TEST | ( | MapGridTest | , |
adjustPlan2 | |||
) |
Definition at line 142 of file map_grid_test.cpp.
base_local_planner::TEST | ( | MapGridTest | , |
adjustPlanEmpty | |||
) |
Definition at line 104 of file map_grid_test.cpp.
base_local_planner::TEST | ( | MapGridTest | , |
copyConstructor | |||
) |
Definition at line 30 of file map_grid_test.cpp.
base_local_planner::TEST | ( | MapGridTest | , |
distancePropagation | |||
) |
Definition at line 181 of file map_grid_test.cpp.
base_local_planner::TEST | ( | MapGridTest | , |
getIndex | |||
) |
Definition at line 38 of file map_grid_test.cpp.
base_local_planner::TEST | ( | MapGridTest | , |
initNull | |||
) |
Definition at line 18 of file map_grid_test.cpp.
base_local_planner::TEST | ( | MapGridTest | , |
operatorBrackets | |||
) |
Definition at line 24 of file map_grid_test.cpp.
base_local_planner::TEST | ( | MapGridTest | , |
properGridConstruction | |||
) |
Definition at line 78 of file map_grid_test.cpp.
base_local_planner::TEST | ( | MapGridTest | , |
reset | |||
) |
Definition at line 43 of file map_grid_test.cpp.
base_local_planner::TEST | ( | MapGridTest | , |
sizeCheck | |||
) |
Definition at line 90 of file map_grid_test.cpp.
base_local_planner::TEST | ( | TrajectoryPlannerTest | , |
checkGoalDistance | |||
) |
base_local_planner::TEST | ( | TrajectoryPlannerTest | , |
checkPathDistance | |||
) |
base_local_planner::TEST | ( | TrajectoryPlannerTest | , |
footprintObstacles | |||
) |
base_local_planner::TEST | ( | VelocityIteratorTest | , |
test1 | |||
) |
Definition at line 110 of file velocity_iterator_test.cpp.
base_local_planner::TEST | ( | VelocityIteratorTest | , |
test1_neg | |||
) |
Definition at line 138 of file velocity_iterator_test.cpp.
base_local_planner::TEST | ( | VelocityIteratorTest | , |
test1_pos | |||
) |
Definition at line 124 of file velocity_iterator_test.cpp.
base_local_planner::TEST | ( | VelocityIteratorTest | , |
test3 | |||
) |
Definition at line 152 of file velocity_iterator_test.cpp.
base_local_planner::TEST | ( | VelocityIteratorTest | , |
test4 | |||
) |
Definition at line 166 of file velocity_iterator_test.cpp.
base_local_planner::TEST | ( | VelocityIteratorTest | , |
test_cranky | |||
) |
Definition at line 195 of file velocity_iterator_test.cpp.
base_local_planner::TEST | ( | VelocityIteratorTest | , |
test_shifted | |||
) |
Definition at line 180 of file velocity_iterator_test.cpp.
base_local_planner::TEST | ( | VelocityIteratorTest | , |
testsingle | |||
) |
Definition at line 77 of file velocity_iterator_test.cpp.
base_local_planner::TEST | ( | VelocityIteratorTest | , |
testsingle_neg | |||
) |
Definition at line 99 of file velocity_iterator_test.cpp.
base_local_planner::TEST | ( | VelocityIteratorTest | , |
testsingle_pos | |||
) |
Definition at line 88 of file velocity_iterator_test.cpp.
bool base_local_planner::transformGlobalPlan | ( | const tf2_ros::Buffer & | tf, |
const std::vector< geometry_msgs::PoseStamped > & | global_plan, | ||
const geometry_msgs::PoseStamped & | global_robot_pose, | ||
const costmap_2d::Costmap2D & | costmap, | ||
const std::string & | global_frame, | ||
std::vector< geometry_msgs::PoseStamped > & | transformed_plan | ||
) |
Transforms the global plan of the robot from the planner frame to the frame of the costmap, selects only the (first) part of the plan that is within the costmap area.
tf | A reference to a transform listener |
global_plan | The plan to be transformed |
robot_pose | The pose of the robot in the global frame (same as costmap) |
costmap | A reference to the costmap being used so the window size for transforming can be computed |
global_frame | The frame to transform the plan to |
transformed_plan | Populated with the transformed plan |
Definition at line 96 of file goal_functions.cpp.
TrajectoryPlannerTest* base_local_planner::tct = NULL |