Wrappes the CostmapPlaner API into the traditional BaseGlobalPlanner API. More...

#include <gpp_plugin.hpp>

Inheritance diagram for gpp_plugin::BaseGlobalPlannerWrapper:

Public Types
using	ImplPlanner = pluginlib::UniquePtr< CostmapPlanner >

using	Map = costmap_2d::Costmap2DROS

using	Path = std::vector< Pose >

using	Pose = geometry_msgs::PoseStamped

Public Member Functions
	BaseGlobalPlannerWrapper (ImplPlanner &&_impl)
	our c'tor More...

void	initialize (std::string name, Map *costmap_ros) override

bool	makePlan (const Pose &start, const Pose &goal, Path &plan) override

bool	makePlan (const Pose &start, const Pose &goal, Path &plan, double &cost) override

Public Member Functions inherited from nav_core::BaseGlobalPlanner
virtual bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)=0

virtual bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan, double &cost)

virtual	~BaseGlobalPlanner ()

Private Attributes
ImplPlanner	impl_

Additional Inherited Members
Protected Member Functions inherited from nav_core::BaseGlobalPlanner
	BaseGlobalPlanner ()

Detailed Description

Wrappes the CostmapPlaner API into the traditional BaseGlobalPlanner API.

Implementation is very simpliar to move-base-flex wrapper class. However, all publicly available planners stick to the BaseGlobalPlanner API, so we treat it as default.

Definition at line 316 of file gpp_plugin.hpp.

Member Typedef Documentation

◆ ImplPlanner

using gpp_plugin::BaseGlobalPlannerWrapper::ImplPlanner = pluginlib::UniquePtr<CostmapPlanner>

Definition at line 321 of file gpp_plugin.hpp.

◆ Map

using gpp_plugin::BaseGlobalPlannerWrapper::Map = costmap_2d::Costmap2DROS

Definition at line 320 of file gpp_plugin.hpp.

◆ Path

using gpp_plugin::BaseGlobalPlannerWrapper::Path = std::vector<Pose>

Definition at line 319 of file gpp_plugin.hpp.

◆ Pose

using gpp_plugin::BaseGlobalPlannerWrapper::Pose = geometry_msgs::PoseStamped

Definition at line 318 of file gpp_plugin.hpp.

Constructor & Destructor Documentation

◆ BaseGlobalPlannerWrapper()

gpp_plugin::BaseGlobalPlannerWrapper::BaseGlobalPlannerWrapper ( ImplPlanner && _impl )

explicit

our c'tor

Parameters

_impl a valid instance of the CostmapPlanner, which we will own

Exceptions

std::invalid_argument,if _impl is nullptr

Definition at line 151 of file gpp_plugin.cpp.

Member Function Documentation

◆ initialize()

void gpp_plugin::BaseGlobalPlannerWrapper::initialize	(	std::string	name,
		Map *	costmap_ros
	)

overridevirtual

Implements nav_core::BaseGlobalPlanner.

Definition at line 173 of file gpp_plugin.cpp.

◆ makePlan() [1/2]

bool gpp_plugin::BaseGlobalPlannerWrapper::makePlan	(	const Pose &	start,
		const Pose &	goal,
		Path &	plan
	)

override

Definition at line 159 of file gpp_plugin.cpp.

◆ makePlan() [2/2]

bool gpp_plugin::BaseGlobalPlannerWrapper::makePlan	(	const Pose &	start,
		const Pose &	goal,
		Path &	plan,
		double &	cost
	)

override

Definition at line 166 of file gpp_plugin.cpp.

Member Data Documentation

◆ impl_

ImplPlanner gpp_plugin::BaseGlobalPlannerWrapper::impl_

private

Definition at line 339 of file gpp_plugin.hpp.

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

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members