Class SimplePlanner

Inheritance Relationships

Base Type

  • public PlannerMethodBase

Class Documentation

class SimplePlanner : public PlannerMethodBase

A planner implementing the A* algorithm on a SimpleMap grid.

Public Functions

explicit SimplePlanner()

Default constructor.

Initializes the internal variables and parameters of the planner.

virtual void on_initialize() override

Initializes the planner.

Configures publishers, retrieves parameters, and prepares the planner for path generation using the available map data.

Throws:

std::runtime_error – if initialization fails.

void update(NavState &nav_state) override

Updates the planner by computing a new path.

Uses the current navigation state (including the robot’s position and goal) to generate a path based on the A* algorithm.

Parameters:

nav_state – The current navigation state (contains odometry and goal information).

Protected Functions

std::vector<geometry_msgs::msg::Pose> a_star_path(const SimpleMap &map, const geometry_msgs::msg::Pose &start, const geometry_msgs::msg::Pose &goal, double resolution)

Runs the A* algorithm to compute a path.

Parameters:

  • map – The occupancy map used for path planning.

  • start – The starting pose in world coordinates.

  • goal – The target pose in world coordinates.

  • resolution – The cell resolution of the map (in meters).

Returns:

A sequence of poses representing the planned path.

bool isFreeWithClearance(const SimpleMap &map, int cx, int cy, double clearance_cells)

Checks whether a map cell is free, considering a clearance area.

This function verifies if a cell and its surrounding cells (within the specified clearance radius) are free of obstacles.

Parameters:

  • map – The occupancy map to query.

  • cx – The x-coordinate of the cell.

  • cy – The y-coordinate of the cell.

  • clearance_cells – The clearance radius expressed in number of cells.

Returns:

true if the cell and its clearance area are free, false otherwise.

Protected Attributes

double robot_radius_

Radius of the robot used for collision checking.

double clearance_distance_

Minimum clearance distance from obstacles in meters.

nav_msgs::msg::Path current_path_

The last computed path.

rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr path_pub_

Publisher for the computed navigation path.