#include <sbpl_recovery.h>
Public Member Functions | |
void | initialize (std::string n, tf::TransformListener *tf, costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap) |
void | runBehavior () |
SBPLRecovery () | |
Private Member Functions | |
std::vector < geometry_msgs::PoseStamped > | makePlan () |
void | planCB (const nav_msgs::Path::ConstPtr &plan) |
double | sqDistance (const geometry_msgs::PoseStamped &p1, const geometry_msgs::PoseStamped &p2) |
Private Attributes | |
int | attempts_per_run_ |
double | control_frequency_ |
double | controller_patience_ |
costmap_2d::Costmap2DROS * | global_costmap_ |
sbpl_lattice_planner::SBPLLatticePlanner | global_planner_ |
bool | initialized_ |
costmap_2d::Costmap2DROS * | local_costmap_ |
pose_follower::PoseFollower | local_planner_ |
nav_msgs::Path | plan_ |
boost::mutex | plan_mutex_ |
ros::Subscriber | plan_sub_ |
int | planning_attempts_ |
double | sq_planning_distance_ |
tf::TransformListener * | tf_ |
bool | use_local_frame_ |
ros::Publisher | vel_pub_ |
Definition at line 49 of file sbpl_recovery.h.
sbpl_recovery::SBPLRecovery::SBPLRecovery | ( | ) |
void sbpl_recovery::SBPLRecovery::initialize | ( | std::string | n, | |
tf::TransformListener * | tf, | |||
costmap_2d::Costmap2DROS * | global_costmap, | |||
costmap_2d::Costmap2DROS * | local_costmap | |||
) |
std::vector<geometry_msgs::PoseStamped> sbpl_recovery::SBPLRecovery::makePlan | ( | ) | [private] |
void sbpl_recovery::SBPLRecovery::planCB | ( | const nav_msgs::Path::ConstPtr & | plan | ) | [private] |
void sbpl_recovery::SBPLRecovery::runBehavior | ( | ) |
double sbpl_recovery::SBPLRecovery::sqDistance | ( | const geometry_msgs::PoseStamped & | p1, | |
const geometry_msgs::PoseStamped & | p2 | |||
) | [private] |
int sbpl_recovery::SBPLRecovery::attempts_per_run_ [private] |
Definition at line 77 of file sbpl_recovery.h.
double sbpl_recovery::SBPLRecovery::control_frequency_ [private] |
Definition at line 76 of file sbpl_recovery.h.
double sbpl_recovery::SBPLRecovery::controller_patience_ [private] |
Definition at line 76 of file sbpl_recovery.h.
costmap_2d::Costmap2DROS* sbpl_recovery::SBPLRecovery::global_costmap_ [private] |
Definition at line 66 of file sbpl_recovery.h.
sbpl_lattice_planner::SBPLLatticePlanner sbpl_recovery::SBPLRecovery::global_planner_ [private] |
Definition at line 69 of file sbpl_recovery.h.
bool sbpl_recovery::SBPLRecovery::initialized_ [private] |
Definition at line 71 of file sbpl_recovery.h.
costmap_2d::Costmap2DROS* sbpl_recovery::SBPLRecovery::local_costmap_ [private] |
Definition at line 67 of file sbpl_recovery.h.
pose_follower::PoseFollower sbpl_recovery::SBPLRecovery::local_planner_ [private] |
Definition at line 70 of file sbpl_recovery.h.
nav_msgs::Path sbpl_recovery::SBPLRecovery::plan_ [private] |
Definition at line 75 of file sbpl_recovery.h.
boost::mutex sbpl_recovery::SBPLRecovery::plan_mutex_ [private] |
Definition at line 74 of file sbpl_recovery.h.
ros::Subscriber sbpl_recovery::SBPLRecovery::plan_sub_ [private] |
Definition at line 72 of file sbpl_recovery.h.
int sbpl_recovery::SBPLRecovery::planning_attempts_ [private] |
Definition at line 77 of file sbpl_recovery.h.
double sbpl_recovery::SBPLRecovery::sq_planning_distance_ [private] |
Definition at line 76 of file sbpl_recovery.h.
tf::TransformListener* sbpl_recovery::SBPLRecovery::tf_ [private] |
Definition at line 68 of file sbpl_recovery.h.
bool sbpl_recovery::SBPLRecovery::use_local_frame_ [private] |
Definition at line 78 of file sbpl_recovery.h.
ros::Publisher sbpl_recovery::SBPLRecovery::vel_pub_ [private] |
Definition at line 73 of file sbpl_recovery.h.