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 | 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... | |
| struct | MapGridCostPoint |
| class | MapGridVisualizer |
| 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 | Trajectory |
| Holds a trajectory generated by an x, y, and theta velocity. More... | |
| 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 | 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... | |
Functions | |
| double | distance (double x1, double y1, double x2, double y2) |
| Compute the distance between two points. | |
| bool | goalOrientationReached (const tf::Stamped< tf::Pose > &global_pose, double goal_th, double yaw_goal_tolerance) |
| Check if the goal orientation has been achieved. | |
| bool | goalPositionReached (const tf::Stamped< tf::Pose > &global_pose, double goal_x, double goal_y, double xy_goal_tolerance) |
| Check if the goal position has been achieved. | |
| bool | isGoalReached (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2DROS &costmap_ros, const std::string &global_frame, 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. | |
| void | prunePlan (const tf::Stamped< tf::Pose > &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. | |
| void | publishPlan (const std::vector< geometry_msgs::PoseStamped > &path, const ros::Publisher &pub, double r, double g, double b, double a) |
| Publish a plan for visualization purposes. | |
| 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. | |
| bool | transformGlobalPlan (const tf::TransformListener &tf, const std::vector< geometry_msgs::PoseStamped > &global_plan, const costmap_2d::Costmap2DROS &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 local frame. | |
| double base_local_planner::distance | ( | double | x1, |
| double | y1, | ||
| double | x2, | ||
| double | y2 | ||
| ) |
Compute the distance between two points.
| x1 | The first x point |
| y1 | The first y point |
| x2 | The second x point |
| y2 | The second y point |
Definition at line 40 of file goal_functions.cpp.
| bool base_local_planner::goalOrientationReached | ( | const tf::Stamped< tf::Pose > & | global_pose, |
| double | goal_th, | ||
| double | yaw_goal_tolerance | ||
| ) |
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 |
| yaw_goal_tolerance | The tolerance on the position |
Definition at line 49 of file goal_functions.cpp.
| bool base_local_planner::goalPositionReached | ( | const tf::Stamped< tf::Pose > & | global_pose, |
| double | goal_x, | ||
| double | goal_y, | ||
| double | xy_goal_tolerance | ||
| ) |
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 |
| xy_goal_tolerance | The tolerance on the position |
Definition at line 44 of file goal_functions.cpp.
| bool base_local_planner::isGoalReached | ( | const tf::TransformListener & | tf, |
| const std::vector< geometry_msgs::PoseStamped > & | global_plan, | ||
| const costmap_2d::Costmap2DROS & | costmap_ros, | ||
| const std::string & | global_frame, | ||
| 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 |
Definition at line 177 of file goal_functions.cpp.
| void base_local_planner::prunePlan | ( | const tf::Stamped< tf::Pose > & | 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 73 of file goal_functions.cpp.
| void base_local_planner::publishPlan | ( | const std::vector< geometry_msgs::PoseStamped > & | path, |
| const ros::Publisher & | pub, | ||
| double | r, | ||
| double | g, | ||
| double | b, | ||
| double | a | ||
| ) |
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 54 of file goal_functions.cpp.
| 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 243 of file goal_functions.cpp.
| bool base_local_planner::transformGlobalPlan | ( | const tf::TransformListener & | tf, |
| const std::vector< geometry_msgs::PoseStamped > & | global_plan, | ||
| const costmap_2d::Costmap2DROS & | 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 local frame.
| tf | A reference to a transform listener |
| global_plan | The plan to be transformed |
| 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 92 of file goal_functions.cpp.
