#include <abstract_planner.h>
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virtual bool | cancel ()=0 |
| Requests the planner to cancel, e.g. if it takes too much time. More...
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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)=0 |
| Given a goal pose in the world, compute a plan. More...
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virtual | ~AbstractPlanner () |
| Destructor. More...
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Definition at line 51 of file abstract_planner.h.
virtual mbf_abstract_core::AbstractPlanner::~AbstractPlanner |
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inlinevirtual |
mbf_abstract_core::AbstractPlanner::AbstractPlanner |
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inlineprotected |
virtual bool mbf_abstract_core::AbstractPlanner::cancel |
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pure virtual |
Requests the planner to cancel, e.g. if it takes too much time.
- Returns
- True if a cancel has been successfully requested, false if not implemented.
virtual uint32_t mbf_abstract_core::AbstractPlanner::makePlan |
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const geometry_msgs::PoseStamped & |
start, |
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const geometry_msgs::PoseStamped & |
goal, |
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double |
tolerance, |
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std::vector< geometry_msgs::PoseStamped > & |
plan, |
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double & |
cost, |
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std::string & |
message |
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pure virtual |
Given a goal pose in the world, compute a plan.
- Parameters
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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 |
- Returns
- Result code as described on GetPath action result: SUCCESS = 0 1..9 are reserved as plugin specific non-error results FAILURE = 50 # Unspecified failure, only used for old, non-mfb_core based plugins CANCELED = 51 INVALID_START = 52 INVALID_GOAL = 53 NO_PATH_FOUND = 54 PAT_EXCEEDED = 55 EMPTY_PATH = 56 TF_ERROR = 57 NOT_INITIALIZED = 58 INVALID_PLUGIN = 59 INTERNAL_ERROR = 60 71..99 are reserved as plugin specific errors
The documentation for this class was generated from the following file: