Class PlannerAction

• Defined in File planner_action.h

Inheritance Relationships

Base Type

• public mbf_abstract_nav::AbstractActionBase< mbf_msgs::action::GetPath, AbstractPlannerExecution > (Template Class AbstractActionBase)

Class Documentation

class PlannerAction : public mbf_abstract_nav::AbstractActionBase<mbf_msgs::action::GetPath, AbstractPlannerExecution>

Public Types

typedef std::shared_ptr<PlannerAction> Ptr

Public Functions

PlannerAction(const rclcpp::Node::SharedPtr &node, const std::string &name, const mbf_utility::RobotInformation::ConstPtr &robot_info)

virtual void runImpl(const GoalHandlePtr &goal_handle, AbstractPlannerExecution &execution) override

Protected Functions

bool transformPlanToGlobalFrame(const std::vector<geometry_msgs::msg::PoseStamped> &plan, std::vector<geometry_msgs::msg::PoseStamped> &global_plan)

Transforms a plan to the global frame (global_frame_) coord system.

Parameters:

• plan – Input plan to be transformed.

• global_plan – Output plan, which is then transformed to the global frame.

Returns:

true, if the transformation succeeded, false otherwise