gpp_interface::PostPlanningInterface Struct Reference

#include <post_planning_interface.hpp>

Public Types
using	Map = costmap_2d::Costmap2DROS
using	Path = std::vector< Pose >
using	Pose = geometry_msgs::PoseStamped

Public Member Functions
virtual void	initialize (const std::string &_name, Map *_map)=0
virtual bool	postProcess (const Pose &_start, const Pose &_goal, Path &_path, double &_cost)=0
virtual	~PostPlanningInterface ()=default

Detailed Description

Post-Planning class will be run after the global planner

Use this class to alter the output of your planner. You can implement

• trajectory smoothing
• orientation adjustment
• etc.

Definition at line 44 of file post_planning_interface.hpp.

Member Typedef Documentation

Map

using gpp_interface::PostPlanningInterface::Map = costmap_2d::Costmap2DROS

Definition at line 48 of file post_planning_interface.hpp.

Path

using gpp_interface::PostPlanningInterface::Path = std::vector<Pose>

Definition at line 47 of file post_planning_interface.hpp.

Pose

using gpp_interface::PostPlanningInterface::Pose = geometry_msgs::PoseStamped

Definition at line 46 of file post_planning_interface.hpp.

Constructor & Destructor Documentation

~PostPlanningInterface()

virtual gpp_interface::PostPlanningInterface::~PostPlanningInterface ( )

virtualdefault

Member Function Documentation

initialize()

virtual void gpp_interface::PostPlanningInterface::initialize ( const std::string &  _name, Map *  _map  )

pure virtual

Parameters

_name	Name of the resource
_map	Map on which the planning problem will be preformed

postProcess()

virtual bool gpp_interface::PostPlanningInterface::postProcess ( const Pose &  _start, const Pose &  _goal, Path &  _path, double &  _cost  )

pure virtual

Parameters

[in]	_start	start pose for the planning
[in]	_goal	goal pose for the planning
[out]	_path	path as output from a global planner
[out]	_cost	cost as output from a global planner

Returns

true, if successful

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

• post_planning_interface.hpp