The MeshPlannerExecution binds a global mesh to the AbstractPlannerExecution and uses the nav_core/BaseMeshPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...

#include <mesh_planner_execution.h>

Inheritance diagram for mbf_mesh_nav::MeshPlannerExecution:

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Public Types
typedef boost::shared_ptr< mesh_map::MeshMap >	MeshPtr

Public Types inherited from mbf_abstract_nav::AbstractPlannerExecution
enum	PlanningState

typedef boost::shared_ptr< AbstractPlannerExecution >	Ptr

Public Member Functions
	MeshPlannerExecution (const std::string name, const mbf_mesh_core::MeshPlanner::Ptr &planner_ptr, const MeshPtr &mesh, const MoveBaseFlexConfig &config)
	Constructor. More...

virtual	~MeshPlannerExecution ()
	Destructor. More...

Public Member Functions inherited from mbf_abstract_nav::AbstractPlannerExecution
	AbstractPlannerExecution (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr, const MoveBaseFlexConfig &config)

	AbstractPlannerExecution (const std::string &name, const mbf_abstract_core::AbstractPlanner::Ptr &planner_ptr, const TFPtr &tf_listener_ptr, const MoveBaseFlexConfig &config)

virtual bool	cancel ()

double	getCost () const

double	getFrequency () const

ros::Time	getLastValidPlanTime () const

std::vector< geometry_msgs::PoseStamped >	getPlan () const

PlanningState	getState () const

bool	isPatienceExceeded () const

void	reconfigure (const MoveBaseFlexConfig &config)

void	setNewGoal (const geometry_msgs::PoseStamped &goal, double tolerance)

void	setNewStart (const geometry_msgs::PoseStamped &start)

void	setNewStartAndGoal (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance)

bool	start (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, double tolerance)

virtual	~AbstractPlannerExecution ()

Public Member Functions inherited from mbf_abstract_nav::AbstractExecutionBase
	AbstractExecutionBase (const std::string &name)

const std::string &	getMessage () const

const std::string &	getName () const

uint32_t	getOutcome () const

void	join ()

virtual void	postRun ()

virtual void	preRun ()

virtual void	reconfigure (MoveBaseFlexConfig &_cfg)

virtual bool	start ()

virtual void	stop ()

boost::cv_status	waitForStateUpdate (boost::chrono::microseconds const &duration)

virtual	~AbstractExecutionBase ()

Private Member Functions
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)
	Calls the planner plugin to make a plan from the start pose to the goal pose with the given tolerance, if a goal tolerance is enabled in the planner plugin. More...

mbf_abstract_nav::MoveBaseFlexConfig	toAbstract (const MoveBaseFlexConfig &config)

Private Attributes
bool	lock_mesh_
	Whether to lock mesh before calling the planner (see issue #4 for details) More...

const MeshPtr &	mesh_ptr_
	Shared pointer to the mesh for 3d navigation planning. More...

std::string	planner_name_
	Name of the planner assigned by the class loader. More...

Additional Inherited Members
Public Attributes inherited from mbf_abstract_nav::AbstractPlannerExecution
	CANCELED

	FOUND_PLAN

	INITIALIZED

	INTERNAL_ERROR

	MAX_RETRIES

	NO_PLAN_FOUND

	PAT_EXCEEDED

	PLANNING

	STARTED

	STOPPED

Protected Member Functions inherited from mbf_abstract_nav::AbstractPlannerExecution
virtual void	run ()

Protected Attributes inherited from mbf_abstract_nav::AbstractPlannerExecution
mbf_abstract_core::AbstractPlanner::Ptr	planner_

std::string	plugin_name_

const TFPtr	tf_listener_ptr_

Protected Attributes inherited from mbf_abstract_nav::AbstractExecutionBase
bool	cancel_

boost::condition_variable	condition_

std::string	message_

std::string	name_

uint32_t	outcome_

boost::thread	thread_

Detailed Description

The MeshPlannerExecution binds a global mesh to the AbstractPlannerExecution and uses the nav_core/BaseMeshPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base.

Definition at line 56 of file mesh_planner_execution.h.

Member Typedef Documentation

◆ MeshPtr

typedef boost::shared_ptr<mesh_map::MeshMap> mbf_mesh_nav::MeshPlannerExecution::MeshPtr

Definition at line 59 of file mesh_planner_execution.h.

Constructor & Destructor Documentation

◆ MeshPlannerExecution()

mbf_mesh_nav::MeshPlannerExecution::MeshPlannerExecution	(	const std::string	name,
		const mbf_mesh_core::MeshPlanner::Ptr &	planner_ptr,
		const MeshPtr &	mesh,
		const MoveBaseFlexConfig &	config
	)

Constructor.

Parameters

condition	Thread sleep condition variable, to wake up connected threads
mesh	Shared pointer to the mesh.

Definition at line 41 of file mesh_planner_execution.cpp.

◆ ~MeshPlannerExecution()

mbf_mesh_nav::MeshPlannerExecution::~MeshPlannerExecution ( )

virtual

Destructor.

Definition at line 49 of file mesh_planner_execution.cpp.

Member Function Documentation

◆ makePlan()

uint32_t mbf_mesh_nav::MeshPlannerExecution::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		double	tolerance,
		std::vector< geometry_msgs::PoseStamped > &	plan,
		double &	cost,
		std::string &	message
	)

privatevirtual

Calls the planner plugin to make a plan from the start pose to the goal pose with the given tolerance, if a goal tolerance is enabled in the planner plugin.

Parameters

start	The start pose for planning
goal	The goal pose for planning
tolerance	The goal tolerance
plan	The computed plan by the plugin
cost	The computed costs for the corresponding plan
message	An optional message which should correspond with the returned outcome

Returns: An outcome number, see also the action definition in the GetPath.action file

Reimplemented from mbf_abstract_nav::AbstractPlannerExecution.

Definition at line 64 of file mesh_planner_execution.cpp.

◆ toAbstract()

mbf_abstract_nav::MoveBaseFlexConfig mbf_mesh_nav::MeshPlannerExecution::toAbstract ( const MoveBaseFlexConfig & config )

private

Definition at line 53 of file mesh_planner_execution.cpp.

Member Data Documentation

◆ lock_mesh_

bool mbf_mesh_nav::MeshPlannerExecution::lock_mesh_

private

Whether to lock mesh before calling the planner (see issue #4 for details)

Definition at line 104 of file mesh_planner_execution.h.

◆ mesh_ptr_

const MeshPtr& mbf_mesh_nav::MeshPlannerExecution::mesh_ptr_

private

Shared pointer to the mesh for 3d navigation planning.

Definition at line 101 of file mesh_planner_execution.h.

◆ planner_name_

std::string mbf_mesh_nav::MeshPlannerExecution::planner_name_

private

Name of the planner assigned by the class loader.

Definition at line 107 of file mesh_planner_execution.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MeshPtr

Constructor & Destructor Documentation

◆ MeshPlannerExecution()

◆ ~MeshPlannerExecution()

Member Function Documentation

◆ makePlan()

◆ toAbstract()

Member Data Documentation

◆ lock_mesh_

◆ mesh_ptr_

◆ planner_name_