post-processing class which will prune the given path. More...

#include <gpp_prune_path.hpp>

Inheritance diagram for gpp_prune_path::GppPrunePath:

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

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

Public Member Functions inherited from gpp_interface::PostPlanningInterface
virtual	~PostPlanningInterface ()=default

Private Attributes
int	step_ = 0

Additional Inherited Members
Public Types inherited from gpp_interface::PostPlanningInterface
typedef costmap_2d::Costmap2DROS	Map

typedef std::vector< Pose >	Path

typedef geometry_msgs::PoseStamped	Pose

Detailed Description

post-processing class which will prune the given path.

You can configure the skip-step via the ros-parameter "~/step". Its value defaults to 2. Negative values will deactivate this plugin - calling GppPrunePath::postProcess will be a noop and directly return true.

The plugin fails, if the given path has less than 2 elements. It succeeds in all other cases.

See the README.md for futher details.

Definition at line 111 of file gpp_prune_path.hpp.

Member Function Documentation

◆ initialize()

void gpp_prune_path::GppPrunePath::initialize	(	const std::string &	_name,
		Map *	_map
	)

overridevirtual

Implements gpp_interface::PostPlanningInterface.

Definition at line 51 of file gpp_prune_path.cpp.

◆ postProcess()

bool gpp_prune_path::GppPrunePath::postProcess	(	const Pose &	_start,
		const Pose &	_goal,
		Path &	_path,
		double &	_cost
	)

overridevirtual

Implements gpp_interface::PostPlanningInterface.

Definition at line 32 of file gpp_prune_path.cpp.

Member Data Documentation

◆ step_

int gpp_prune_path::GppPrunePath::step_ = 0

private

Definition at line 120 of file gpp_prune_path.hpp.

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

Public Member Functions