gpp_plugin Namespace Reference

Classes
struct	ArrayPluginManager
	Loads an array of plugins. More...
struct	BaseGlobalPlannerWrapper
	Wrappes the CostmapPlaner API into the traditional BaseGlobalPlanner API. More...
struct	CostmapPlannerManager
	Loads either CostmapPlanner or BaseGlobalPlanner plugins under a uniform interface. More...
struct	GppPlugin
	Combine pre-planning, planning and post-planning to customize the your path. More...
struct	PluginDefinition
	POD defining the meta information required to load a plugin. More...
struct	PluginGroup
	Common interface to a plugin group. More...
struct	PluginManager
	Base class for loading a plugin with a valid PluginDefinition. More...
struct	PluginParameter
	Parameters defining how to execute a plugin. More...

Typedefs
using	GlobalPlannerManager = ArrayPluginManager< BaseGlobalPlanner >
using	PostPlanningManager = ArrayPluginManager< PostPlanningInterface >
using	PrePlanningManager = ArrayPluginManager< PrePlanningInterface >

Functions
void	_default_deleter (BaseGlobalPlanner *impl)
template<typename _T >
_T	_getElement (const XmlRpc::XmlRpcValue &_v, const std::string &_tag, const _T &_default) noexcept
	helper to get any value from _v under _tag. If anything goes wrong, the function will fall-back to the _default value. More...
std::string	_getStringElement (const XmlRpc::XmlRpcValue &_v, const std::string &_tag)
	helper to get a string element with the tag _tag from _v More...
template<typename _Plugin >
void	_initGroup (const std::string &_name, costmap_2d::Costmap2DROS *_costmap, ros::NodeHandle &_nh, ArrayPluginManager< _Plugin > &_group)
template<typename _Plugin , typename _Functor >
bool	_runPlugins (const PluginGroup< _Plugin > &_grp, const _Functor &_func, const std::atomic_bool &_cancel)
	Execution logic to run all plugins within one group. More...
template<typename _Plugin , typename _Functor >
bool	runPlugins (const PluginGroup< _Plugin > &_grp, const _Functor &_func, const std::atomic_bool &_cancel)
	as _runPlugins but with a warning on failure More...

Variables
constexpr char	gpp_name__ [] = "[gpp]: "
constexpr uint32_t	MBF_FAILURE = mbf_msgs::GetPathResult::FAILURE
constexpr uint32_t	MBF_SUCCESS = mbf_msgs::GetPathResult::SUCCESS

Typedef Documentation

GlobalPlannerManager

using gpp_plugin::GlobalPlannerManager = typedef ArrayPluginManager<BaseGlobalPlanner>

Definition at line 306 of file gpp_plugin.hpp.

PostPlanningManager

using gpp_plugin::PostPlanningManager = typedef ArrayPluginManager<PostPlanningInterface>

Definition at line 305 of file gpp_plugin.hpp.

PrePlanningManager

using gpp_plugin::PrePlanningManager = typedef ArrayPluginManager<PrePlanningInterface>

Definition at line 304 of file gpp_plugin.hpp.

Function Documentation

_default_deleter()

void gpp_plugin::_default_deleter ( BaseGlobalPlanner *  impl )

inline

Definition at line 180 of file gpp_plugin.cpp.

_getElement()

template<typename _T >

_T gpp_plugin::_getElement ( const XmlRpc::XmlRpcValue &  _v, const std::string &  _tag, const _T &  _default  )

noexcept

helper to get any value from _v under _tag. If anything goes wrong, the function will fall-back to the _default value.

Definition at line 67 of file gpp_plugin.cpp.

_getStringElement()

std::string gpp_plugin::_getStringElement ( const XmlRpc::XmlRpcValue &  _v, const std::string &  _tag  )

inline

helper to get a string element with the tag _tag from _v

Exceptions

XmlRpc::XmlRpcException

if the tag is missing

Definition at line 54 of file gpp_plugin.cpp.

_initGroup()

template<typename _Plugin >

void gpp_plugin::_initGroup	(	const std::string &	_name,
		costmap_2d::Costmap2DROS *	_costmap,
		ros::NodeHandle &	_nh,
		ArrayPluginManager< _Plugin > &	_group
	)

Definition at line 201 of file gpp_plugin.cpp.

_runPlugins()

template<typename _Plugin , typename _Functor >

bool gpp_plugin::_runPlugins	(	const PluginGroup< _Plugin > &	_grp,
		const _Functor &	_func,
		const std::atomic_bool &	_cancel
	)

Execution logic to run all plugins within one group.

Template Parameters

_Plugin	type of the plugin (PrePlanningInterface, etc)
_Functor	functor taking the _Plugin-ref and returning true on success

This function implements the main logic how to map the result from plugins within a group to the group result.

Parameters

_grp	a group of plugins
_func	a functor responsible for calling the plugin's main function.
_cancel	boolean cancel flag.

Definition at line 191 of file gpp_plugin.hpp.

runPlugins()

template<typename _Plugin , typename _Functor >

bool gpp_plugin::runPlugins	(	const PluginGroup< _Plugin > &	_grp,
		const _Functor &	_func,
		const std::atomic_bool &	_cancel
	)

as _runPlugins but with a warning on failure

Definition at line 221 of file gpp_plugin.hpp.

Variable Documentation

gpp_name__

constexpr char gpp_plugin::gpp_name__[] = "[gpp]: "

constexpr

Definition at line 38 of file gpp_plugin.cpp.

MBF_FAILURE

constexpr uint32_t gpp_plugin::MBF_FAILURE = mbf_msgs::GetPathResult::FAILURE

constexpr

Definition at line 49 of file gpp_plugin.cpp.

MBF_SUCCESS

constexpr uint32_t gpp_plugin::MBF_SUCCESS = mbf_msgs::GetPathResult::SUCCESS

constexpr

Definition at line 48 of file gpp_plugin.cpp.