#include <wrapper_global_planner.h>
Public Member Functions | |
virtual bool | cancel () |
Requests the planner to cancel, e.g. if it takes too much time. | |
virtual void | initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros) |
Initialization function for the CostmapPlanner. | |
virtual uint32_t | makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance, std::vector< geometry_msgs::PoseStamped > &plan, double &cost, std::string &message) |
Given a goal pose in the world, compute a plan. | |
WrapperGlobalPlanner (boost::shared_ptr< nav_core::BaseGlobalPlanner > plugin) | |
Public constructor used for handling a nav_core-based plugin. | |
virtual | ~WrapperGlobalPlanner () |
Virtual destructor for the interface. | |
Private Attributes | |
boost::shared_ptr < nav_core::BaseGlobalPlanner > | nav_core_plugin_ |
Definition at line 54 of file wrapper_global_planner.h.
mbf_nav_core_wrapper::WrapperGlobalPlanner::WrapperGlobalPlanner | ( | boost::shared_ptr< nav_core::BaseGlobalPlanner > | plugin | ) |
Public constructor used for handling a nav_core-based plugin.
plugin | Backward compatible plugin |
Definition at line 75 of file wrapper_global_planner.cpp.
Virtual destructor for the interface.
Definition at line 79 of file wrapper_global_planner.cpp.
bool mbf_nav_core_wrapper::WrapperGlobalPlanner::cancel | ( | ) | [virtual] |
Requests the planner to cancel, e.g. if it takes too much time.
Implements mbf_costmap_core::CostmapPlanner.
Definition at line 65 of file wrapper_global_planner.cpp.
void mbf_nav_core_wrapper::WrapperGlobalPlanner::initialize | ( | std::string | name, |
costmap_2d::Costmap2DROS * | costmap_ros | ||
) | [virtual] |
Initialization function for the CostmapPlanner.
name | The name of this planner |
costmap_ros | A pointer to the ROS wrapper of the costmap to use for planning |
Implements mbf_costmap_core::CostmapPlanner.
Definition at line 70 of file wrapper_global_planner.cpp.
uint32_t mbf_nav_core_wrapper::WrapperGlobalPlanner::makePlan | ( | const geometry_msgs::PoseStamped & | start, |
const geometry_msgs::PoseStamped & | goal, | ||
double | tolerance, | ||
std::vector< geometry_msgs::PoseStamped > & | plan, | ||
double & | cost, | ||
std::string & | message | ||
) | [virtual] |
Given a goal pose in the world, compute a plan.
start | The start pose |
goal | The goal pose |
tolerance | If the goal is obstructed, how many meters the planner can relax the constraint in x and y before failing |
plan | The plan... filled by the planner |
cost | The cost for the the plan |
message | Optional more detailed outcome as a string |
Implements mbf_costmap_core::CostmapPlanner.
Definition at line 46 of file wrapper_global_planner.cpp.
boost::shared_ptr< nav_core::BaseGlobalPlanner > mbf_nav_core_wrapper::WrapperGlobalPlanner::nav_core_plugin_ [private] |
Definition at line 99 of file wrapper_global_planner.h.