used for employing a nav_core global planner (such as navfn) as a nav_core2 plugin, like in locomotor. More...

Inheritance diagram for nav_core_adapter::GlobalPlannerAdapter2:

Public Member Functions
	GlobalPlannerAdapter2 ()

void	initialize (const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf, nav_core2::Costmap::Ptr costmap) override
	Load the nav_core global planner and initialize it. More...

nav_2d_msgs::Path2D	makePlan (const nav_2d_msgs::Pose2DStamped &start, const nav_2d_msgs::Pose2DStamped &goal) override

Public Member Functions inherited from nav_core2::GlobalPlanner
virtual	~GlobalPlanner ()

Protected Attributes
nav_core2::Costmap::Ptr	costmap_

costmap_2d::Costmap2DROS *	costmap_ros_

boost::shared_ptr< nav_core::BaseGlobalPlanner >	planner_

pluginlib::ClassLoader< nav_core::BaseGlobalPlanner >	planner_loader_

Detailed Description

used for employing a nav_core global planner (such as navfn) as a nav_core2 plugin, like in locomotor.

Definition at line 51 of file global_planner_adapter2.h.

Constructor & Destructor Documentation

nav_core_adapter::GlobalPlannerAdapter2::GlobalPlannerAdapter2 ( )

void nav_core_adapter::GlobalPlannerAdapter2::initialize	(	const ros::NodeHandle &	parent,
		const std::string &	name,
		TFListenerPtr	tf,
		nav_core2::Costmap::Ptr	costmap
	)

overridevirtual

Load the nav_core global planner and initialize it.

nav_2d_msgs::Path2D nav_core_adapter::GlobalPlannerAdapter2::makePlan	(	const nav_2d_msgs::Pose2DStamped &	start,
		const nav_2d_msgs::Pose2DStamped &	goal
	)

overridevirtual

nav_core2::Costmap::Ptr nav_core_adapter::GlobalPlannerAdapter2::costmap_

protected

Definition at line 68 of file global_planner_adapter2.h.

costmap_2d::Costmap2DROS* nav_core_adapter::GlobalPlannerAdapter2::costmap_ros_

protected

Definition at line 67 of file global_planner_adapter2.h.

boost::shared_ptr<nav_core::BaseGlobalPlanner> nav_core_adapter::GlobalPlannerAdapter2::planner_

protected

Definition at line 65 of file global_planner_adapter2.h.

pluginlib::ClassLoader<nav_core::BaseGlobalPlanner> nav_core_adapter::GlobalPlannerAdapter2::planner_loader_

protected

Definition at line 64 of file global_planner_adapter2.h.

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