Combine pre-planning, planning and post-planning to customize the your path. More...

#include <gpp_plugin.hpp>

Inheritance diagram for gpp_plugin::GppPlugin:

[legend]

Public Types
using	Map = costmap_2d::Costmap2DROS

using	Path = std::vector< Pose >

using	Pose = geometry_msgs::PoseStamped

Public Types inherited from mbf_costmap_core::CostmapPlanner
typedef boost::shared_ptr< ::mbf_costmap_core::CostmapPlanner >	Ptr

Public Types inherited from mbf_abstract_core::AbstractPlanner
typedef boost::shared_ptr< ::mbf_abstract_core::AbstractPlanner >	Ptr

Public Member Functions
bool	cancel () override

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

uint32_t	makePlan (const Pose &start, const Pose &goal, double tolerance, Path &plan, double &cost, std::string &message) 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 ()

Public Member Functions inherited from mbf_costmap_core::CostmapPlanner
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

virtual	~CostmapPlanner ()

Public Member Functions inherited from mbf_abstract_core::AbstractPlanner
virtual	~AbstractPlanner ()

Private Member Functions
bool	globalPlanning (const Pose &_start, const Pose &_goal, Path &_plan, double &_cost)

bool	postPlanning (const Pose &_start, const Pose &_goal, Path &_path, double &_cost)

bool	prePlanning (Pose &_start, Pose &_goal)

Private Attributes
std::atomic_bool	cancel_

Map *	costmap_ = nullptr

CostmapPlannerManager	global_planning_

std::string	name_

PostPlanningManager	post_planning_

PrePlanningManager	pre_planning_

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

Protected Member Functions inherited from mbf_costmap_core::CostmapPlanner
	CostmapPlanner ()

Protected Member Functions inherited from mbf_abstract_core::AbstractPlanner
	AbstractPlanner ()

Detailed Description

Combine pre-planning, planning and post-planning to customize the your path.

The planner implements BaseGlobalPlanner and CostmapPlanner interfaces.

Parameters

Define the pre_planning plugins under the tag pre_planning: those plugins must implement gpp_interface::PrePlanningInterface.

Define planning plugins under the tag planning: those plugins must implement either nav_core::BaseLocalPlanner or 'mbf_costmap_core::CostmapPlanner`.

Define post_planning plugins under tha tag post_planning: those plugins must implement gpp_interface::PostPlanningInterface.

The plugins under every tag (pre_planning, planning or post_planning) must be defined as an array. Every element withing the array must have the tags name and type - following the standard ros syntax for pluginlib-loaded plugins.

Below is a code example

# define the pre-planning plugins
pre_planning:
-  {name: first_pre_planning_name, type: first_pre_planning_type}
-  {name: second_pre_planning_name, type: second_pre_planning_type}
 
# define the planning plugins
planning:
-  {name: first_planning_name, type: first_planning_type}
-  {name: second_planning_name, type: second_planning_type}
 
# define the post-planning plugins
post_planning:
-  {name: first_post_planning_name, type: first_post_planning_type}
-  {name: second_post_planning_name, type: second_post_planning_type}
 
# define the default values for the groups
pre_planning_default_value: true
planning_default_value: false
post_planning_default_value: true

Definition at line 410 of file gpp_plugin.hpp.

Member Typedef Documentation

◆ Map

using gpp_plugin::GppPlugin::Map = costmap_2d::Costmap2DROS

Definition at line 414 of file gpp_plugin.hpp.

◆ Path

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

Definition at line 413 of file gpp_plugin.hpp.

◆ Pose

using gpp_plugin::GppPlugin::Pose = geometry_msgs::PoseStamped

Definition at line 412 of file gpp_plugin.hpp.

Member Function Documentation

◆ cancel()

bool gpp_plugin::GppPlugin::cancel ( )

overridevirtual

Implements mbf_costmap_core::CostmapPlanner.

Definition at line 292 of file gpp_plugin.cpp.

◆ globalPlanning()

bool gpp_plugin::GppPlugin::globalPlanning	(	const Pose &	_start,
		const Pose &	_goal,
		Path &	_plan,
		double &	_cost
	)

private

Definition at line 244 of file gpp_plugin.cpp.

◆ initialize()

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

overridevirtual

Implements mbf_costmap_core::CostmapPlanner.

Definition at line 213 of file gpp_plugin.cpp.

◆ makePlan() [1/3]

bool gpp_plugin::GppPlugin::makePlan	(	const Pose &	_start,
		const Pose &	_goal,
		Path &	_plan
	)

override

Definition at line 253 of file gpp_plugin.cpp.

◆ makePlan() [2/3]

bool gpp_plugin::GppPlugin::makePlan	(	const Pose &	_start,
		const Pose &	_goal,
		Path &	_plan,
		double &	_cost
	)

override

Definition at line 259 of file gpp_plugin.cpp.

◆ makePlan() [3/3]

uint32_t gpp_plugin::GppPlugin::makePlan	(	const Pose &	start,
		const Pose &	goal,
		double	tolerance,
		Path &	plan,
		double &	cost,
		std::string &	message
	)

override

Definition at line 266 of file gpp_plugin.cpp.

◆ postPlanning()

bool gpp_plugin::GppPlugin::postPlanning	(	const Pose &	_start,
		const Pose &	_goal,
		Path &	_path,
		double &	_cost
	)

private

Definition at line 235 of file gpp_plugin.cpp.

◆ prePlanning()

bool gpp_plugin::GppPlugin::prePlanning	(	Pose &	_start,
		Pose &	_goal
	)

private

Definition at line 227 of file gpp_plugin.cpp.

Member Data Documentation

◆ cancel_

std::atomic_bool gpp_plugin::GppPlugin::cancel_

private

Definition at line 444 of file gpp_plugin.hpp.

◆ costmap_

Map* gpp_plugin::GppPlugin::costmap_ = nullptr

private

Definition at line 448 of file gpp_plugin.hpp.

◆ global_planning_

CostmapPlannerManager gpp_plugin::GppPlugin::global_planning_

private

Definition at line 452 of file gpp_plugin.hpp.

◆ name_

std::string gpp_plugin::GppPlugin::name_

private

Definition at line 447 of file gpp_plugin.hpp.

◆ post_planning_

PostPlanningManager gpp_plugin::GppPlugin::post_planning_

private

Definition at line 451 of file gpp_plugin.hpp.

◆ pre_planning_

PrePlanningManager gpp_plugin::GppPlugin::pre_planning_

private

Definition at line 450 of file gpp_plugin.hpp.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Parameters

Member Typedef Documentation

◆ Map

◆ Path

◆ Pose

Member Function Documentation

◆ cancel()

◆ globalPlanning()

◆ initialize()

◆ makePlan() [1/3]

◆ makePlan() [2/3]

◆ makePlan() [3/3]

◆ postPlanning()

◆ prePlanning()

Member Data Documentation

◆ cancel_

◆ costmap_

◆ global_planning_

◆ name_

◆ post_planning_

◆ pre_planning_