SBPLDynEnvGlobalPlanner Class Reference

#include <sbpl_dynamic_env_global_planner.h>

Public Member Functions
virtual void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the SBPLDynEnvGlobalPlanner object.
virtual 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.
	SBPLDynEnvGlobalPlanner (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Constructor for the SBPLDynEnvGlobalPlanner object.
	SBPLDynEnvGlobalPlanner ()
	Default constructor.
virtual	~SBPLDynEnvGlobalPlanner ()
Private Member Functions
void	dynamicObstacleCallback (const dynamic_obs_msgs::DynamicObstaclesConstPtr &msg)
ros::Time	getDynamicObstacles ()
void	moveBaseStatusCallback (const actionlib_msgs::GoalStatusArrayConstPtr &msg)
void	visualizeExpansions ()
Private Attributes
double	allocated_time_
costmap_2d::Costmap2D	cost_map_
std::string	cost_map_topic_
costmap_2d::Costmap2DROS *	costmap_ros_
vector< SBPL_DynamicObstacle_t > *	current_dynObs
ros::Time	current_dynObs_timestamp
double	decrease_epsilon_
double	dyn_obs_pad_costmap_removal
ros::Subscriber	dynObs_sub
DiscreteSpaceTimeIntervalInformation *	env
std::string	environment_type_
std::vector< geometry_msgs::Point >	footprint_
int	force_scratch_limit_
bool	forward_search_
ros::Publisher	goal_pub
double	initial_epsilon_
bool	initialized_
boost::recursive_mutex	lock_
pthread_mutex_t	m
ros::Publisher	marker_pub
ros::Subscriber	moveBaseStatus_sub
bool	pathDone
vector< SBPL_DynamicObstacle_t > *	plan_dynObs
ros::Time	plan_dynObs_timestamp
ros::Publisher	plan_pub_
IntervalPlanner *	planner
std::string	planner_type_
geometry_msgs::PoseStamped	prevGoal
std::string	primitive_filename_
bool	remove_dynObs_from_costmap
vector< SBPL_DynamicObstacle_t > *	sensor_dynObs
double	temporal_padding
tf::TransformListener	tf_
double	time_resolution

Detailed Description

ROS TF

Definition at line 26 of file sbpl_dynamic_env_global_planner.h.

Constructor & Destructor Documentation

SBPLDynEnvGlobalPlanner::SBPLDynEnvGlobalPlanner ( )

Default constructor.

Definition at line 54 of file sbpl_dynamic_env_global_planner.cpp.

SBPLDynEnvGlobalPlanner::SBPLDynEnvGlobalPlanner	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructor for the SBPLDynEnvGlobalPlanner object.

Parameters:

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

Definition at line 149 of file sbpl_dynamic_env_global_planner.cpp.

virtual SBPLDynEnvGlobalPlanner::~SBPLDynEnvGlobalPlanner ( ) [inline, virtual]

Definition at line 61 of file sbpl_dynamic_env_global_planner.h.

Member Function Documentation

void SBPLDynEnvGlobalPlanner::dynamicObstacleCallback ( const dynamic_obs_msgs::DynamicObstaclesConstPtr & msg ) [private]

Definition at line 64 of file sbpl_dynamic_env_global_planner.cpp.

ros::Time SBPLDynEnvGlobalPlanner::getDynamicObstacles ( ) [private]

Definition at line 115 of file sbpl_dynamic_env_global_planner.cpp.

void SBPLDynEnvGlobalPlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)			`[virtual]`

Initialization function for the SBPLDynEnvGlobalPlanner object.

Parameters:

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

Definition at line 156 of file sbpl_dynamic_env_global_planner.cpp.

bool SBPLDynEnvGlobalPlanner::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

Definition at line 231 of file sbpl_dynamic_env_global_planner.cpp.

void SBPLDynEnvGlobalPlanner::moveBaseStatusCallback ( const actionlib_msgs::GoalStatusArrayConstPtr & msg ) [private]

Definition at line 136 of file sbpl_dynamic_env_global_planner.cpp.

void SBPLDynEnvGlobalPlanner::visualizeExpansions ( ) [private]

Definition at line 416 of file sbpl_dynamic_env_global_planner.cpp.

Member Data Documentation

double SBPLDynEnvGlobalPlanner::allocated_time_ [private]

amount of time allowed for search

Definition at line 87 of file sbpl_dynamic_env_global_planner.h.

costmap_2d::Costmap2D SBPLDynEnvGlobalPlanner::cost_map_ [private]

local copy of the costmap underlying cost_map_ros_

Definition at line 104 of file sbpl_dynamic_env_global_planner.h.

std::string SBPLDynEnvGlobalPlanner::cost_map_topic_ [private]

what type of environment in which to plan. choices are 2D and XYThetaLattice.

Definition at line 96 of file sbpl_dynamic_env_global_planner.h.

costmap_2d::Costmap2DROS* SBPLDynEnvGlobalPlanner::costmap_ros_ [private]

the number of cells that have to be changed in the costmap to force the planner to plan from scratch even if its an incremental planner manages the cost map for us

Definition at line 103 of file sbpl_dynamic_env_global_planner.h.

vector<SBPL_DynamicObstacle_t>* SBPLDynEnvGlobalPlanner::current_dynObs [private]

Definition at line 70 of file sbpl_dynamic_env_global_planner.h.

ros::Time SBPLDynEnvGlobalPlanner::current_dynObs_timestamp [private]

Definition at line 72 of file sbpl_dynamic_env_global_planner.h.

double SBPLDynEnvGlobalPlanner::decrease_epsilon_ [private]

initial epsilon for beginning the anytime search

Definition at line 89 of file sbpl_dynamic_env_global_planner.h.

double SBPLDynEnvGlobalPlanner::dyn_obs_pad_costmap_removal [private]

Definition at line 91 of file sbpl_dynamic_env_global_planner.h.

ros::Subscriber SBPLDynEnvGlobalPlanner::dynObs_sub [private]

Definition at line 74 of file sbpl_dynamic_env_global_planner.h.