Public Member Functions | List of all members
nav_core2::GlobalPlanner Class Referenceabstract

Provides an interface for global planners used in navigation. More...

#include <global_planner.h>

Public Member Functions

virtual void initialize (const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, Costmap::Ptr costmap)=0
 Initialization function for the GlobalPlanner. More...
 
virtual nav_2d_msgs::Path2D makePlan (const nav_2d_msgs::Pose2DStamped &start, const nav_2d_msgs::Pose2DStamped &goal)=0
 Run the global planner to make a plan starting at the start and ending at the goal. More...
 
virtual ~GlobalPlanner ()
 Virtual Destructor. More...
 

Detailed Description

Provides an interface for global planners used in navigation.

Definition at line 50 of file global_planner.h.

Constructor & Destructor Documentation

virtual nav_core2::GlobalPlanner::~GlobalPlanner ( )
inlinevirtual

Virtual Destructor.

Definition at line 56 of file global_planner.h.

Member Function Documentation

virtual void nav_core2::GlobalPlanner::initialize ( const ros::NodeHandle parent,
const std::string &  name,
TFListenerPtr  tf,
Costmap::Ptr  costmap 
)
pure virtual

Initialization function for the GlobalPlanner.

ROS parameters/topics are expected to be in the parent/name namespace. It is suggested that all NodeHandles in the planner use the parent NodeHandle's callback queue.

Parameters
parentNodeHandle to derive other NodeHandles from
nameThe name of this planner
tfA pointer to a transform listener
costmapA pointer to the costmap
virtual nav_2d_msgs::Path2D nav_core2::GlobalPlanner::makePlan ( const nav_2d_msgs::Pose2DStamped &  start,
const nav_2d_msgs::Pose2DStamped &  goal 
)
pure virtual

Run the global planner to make a plan starting at the start and ending at the goal.

Parameters
startThe starting pose of the robot
goalThe goal pose of the robot
Returns
The sequence of poses to get from start to goal, if any

The documentation for this class was generated from the following file:


nav_core2
Author(s):
autogenerated on Sun Jan 10 2021 04:08:27