A Pre-Planning class will be run before the planner. More...

#include <pre_planning_interface.hpp>

Public Types
using	Map = costmap_2d::Costmap2DROS

using	Pose = geometry_msgs::PoseStamped

Public Member Functions
virtual void	initialize (const std::string &_name, Map *_map)=0

virtual bool	preProcess (Pose &_start, Pose &_goal)=0

virtual	~PrePlanningInterface ()=default

Detailed Description

A Pre-Planning class will be run before the planner.

Use this class to alter the input for your planner. You can implement

a generic support for goal tolerances
generic checks if the start/goal pose are within map bounds
a way to update the global map just before the planning
alter the map to add specific information for the planner
etc.

The class offers two methods. Following the standard-approach of ros-navigation plugins, call first initialize to initialize the instance. Then you can use the instance by calling preProcess

// dummy implementation
struct MyPrePlanning : public PrePlanningInterface{
 bool
 preProcess(Pose& _start, Pose& _goal) override
 {}
 
 void
 initialize(const std::string& _name, Map* _map) override {}
};
 
// now create an instance
MyPrePlanning pre_planning;
 
// init your instance
pre_planning.initialize("my_pre_planning");
 
// use it
if(pre_planning.preProcess(...)) {
 std::cout << "pre_planning worked" << std::endl;
}
else {
 std::cerr << "pre_planning failed" << std::endl;
}

Definition at line 78 of file pre_planning_interface.hpp.

Member Typedef Documentation

◆ Map

using gpp_interface::PrePlanningInterface::Map = costmap_2d::Costmap2DROS

Definition at line 81 of file pre_planning_interface.hpp.

◆ Pose

using gpp_interface::PrePlanningInterface::Pose = geometry_msgs::PoseStamped

Definition at line 80 of file pre_planning_interface.hpp.

Constructor & Destructor Documentation

◆ ~PrePlanningInterface()

virtual gpp_interface::PrePlanningInterface::~PrePlanningInterface ( )

virtualdefault

Member Function Documentation

◆ initialize()

virtual void gpp_interface::PrePlanningInterface::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

◆ preProcess()

virtual bool gpp_interface::PrePlanningInterface::preProcess	(	Pose &	_start,
		Pose &	_goal
	)