Class NavfnPlanner
Defined in File navfn_planner.hpp
Inheritance Relationships
Base Type
public nav2_core::GlobalPlanner
Class Documentation
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class NavfnPlanner : public nav2_core::GlobalPlanner
Public Functions
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NavfnPlanner()
constructor
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~NavfnPlanner()
destructor
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void configure(const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::string name, std::shared_ptr<tf2_ros::Buffer> tf, std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros) override
Configuring plugin.
- Parameters:
parent – Lifecycle node pointer
name – Name of plugin map
tf – Shared ptr of TF2 buffer
costmap_ros – Costmap2DROS object
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void cleanup() override
Cleanup lifecycle node.
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void activate() override
Activate lifecycle node.
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void deactivate() override
Deactivate lifecycle node.
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nav_msgs::msg::Path createPlan(const geometry_msgs::msg::PoseStamped &start, const geometry_msgs::msg::PoseStamped &goal) override
Creating a plan from start and goal poses.
- Parameters:
start – Start pose
goal – Goal pose
- Returns:
nav_msgs::Path of the generated path
Protected Functions
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bool makePlan(const geometry_msgs::msg::Pose &start, const geometry_msgs::msg::Pose &goal, double tolerance, nav_msgs::msg::Path &plan)
Compute a plan given start and goal poses, provided in global world frame.
- Parameters:
start – Start pose
goal – Goal pose
tolerance – Relaxation constraint in x and y
plan – Path to be computed
- Returns:
true if can find the path
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bool computePotential(const geometry_msgs::msg::Point &world_point)
Compute the navigation function given a seed point in the world to start from.
- Parameters:
world_point – Point in world coordinate frame
- Returns:
true if can compute
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bool getPlanFromPotential(const geometry_msgs::msg::Pose &goal, nav_msgs::msg::Path &plan)
Compute a plan to a goal from a potential - must call computePotential first.
- Parameters:
goal – Goal pose
plan – Path to be computed
- Returns:
true if can compute a plan path
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void smoothApproachToGoal(const geometry_msgs::msg::Pose &goal, nav_msgs::msg::Path &plan)
Remove artifacts at the end of the path - originated from planning on a discretized world.
- Parameters:
goal – Goal pose
plan – Computed path
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double getPointPotential(const geometry_msgs::msg::Point &world_point)
Compute the potential, or navigation cost, at a given point in the world must call computePotential first.
- Parameters:
world_point – Point in world coordinate frame
- Returns:
double point potential (navigation cost)
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inline double squared_distance(const geometry_msgs::msg::Pose &p1, const geometry_msgs::msg::Pose &p2)
Compute the squared distance between two points.
- Parameters:
p1 – Point 1
p2 – Point 2
- Returns:
double squared distance between two points
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bool worldToMap(double wx, double wy, unsigned int &mx, unsigned int &my)
Transform a point from world to map frame.
- Parameters:
wx – double of world X coordinate
wy – double of world Y coordinate
mx – int of map X coordinate
my – int of map Y coordinate
- Returns:
true if can transform
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void mapToWorld(double mx, double my, double &wx, double &wy)
Transform a point from map to world frame.
- Parameters:
mx – double of map X coordinate
my – double of map Y coordinate
wx – double of world X coordinate
wy – double of world Y coordinate
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void clearRobotCell(unsigned int mx, unsigned int my)
Set the corresponding cell cost to be free space.
- Parameters:
mx – int of map X coordinate
my – int of map Y coordinate
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bool isPlannerOutOfDate()
Determine if a new planner object should be made.
- Returns:
true if planner object is out of date
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rcl_interfaces::msg::SetParametersResult dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters)
Callback executed when a paramter change is detected.
- Parameters:
parameters – list of changed parameters
Protected Attributes
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std::shared_ptr<tf2_ros::Buffer> tf_
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rclcpp::Clock::SharedPtr clock_
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rclcpp::Logger logger_ = {rclcpp::get_logger("NavfnPlanner")}
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nav2_costmap_2d::Costmap2D *costmap_
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std::string global_frame_
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std::string name_
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bool allow_unknown_
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bool use_final_approach_orientation_
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double tolerance_
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bool use_astar_
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rclcpp_lifecycle::LifecycleNode::WeakPtr node_
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rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_
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NavfnPlanner()