Goal Checker plugin that only checks the position difference. More...

#include <simple_goal_checker.h>

Inheritance diagram for dwb_plugins::SimpleGoalChecker:

Public Member Functions
void	initialize (const ros::NodeHandle &nh) override
bool	isGoalReached (const geometry_msgs::Pose2D &query_pose, const geometry_msgs::Pose2D &goal_pose, const nav_2d_msgs::Twist2D &velocity) override
void	reset () override
	SimpleGoalChecker ()
Protected Attributes
bool	check_xy_
bool	stateful_
double	xy_goal_tolerance_
double	xy_goal_tolerance_sq_
double	yaw_goal_tolerance_

Detailed Description

Goal Checker plugin that only checks the position difference.

This class can be stateful if the stateful parameter is set to true (which it is by default). This means that the goal checker will not check if the xy position matches again once it is found to be true.

Definition at line 51 of file simple_goal_checker.h.

Constructor & Destructor Documentation

dwb_plugins::SimpleGoalChecker::SimpleGoalChecker ( )

Definition at line 42 of file simple_goal_checker.cpp.

Member Function Documentation

void dwb_plugins::SimpleGoalChecker::initialize ( const ros::NodeHandle & nh ) [override, virtual]

Implements dwb_local_planner::GoalChecker.

Reimplemented in dwb_plugins::StoppedGoalChecker.

Definition at line 47 of file simple_goal_checker.cpp.

bool dwb_plugins::SimpleGoalChecker::isGoalReached	(	const geometry_msgs::Pose2D &	query_pose,
		const geometry_msgs::Pose2D &	goal_pose,
		const nav_2d_msgs::Twist2D &	velocity
	)		`[override, virtual]`