base_local_planner::LocalPlannerUtil Class Reference

Helper class implementing infrastructure code many local planner implementations may need. More...

#include <local_planner_util.h>

Public Member Functions
costmap_2d::Costmap2D *	getCostmap ()
LocalPlannerLimits	getCurrentLimits ()
std::string	getGlobalFrame ()
bool	getGoal (geometry_msgs::PoseStamped &goal_pose)
bool	getLocalPlan (const geometry_msgs::PoseStamped &global_pose, std::vector< geometry_msgs::PoseStamped > &transformed_plan)
void	initialize (tf2_ros::Buffer *tf, costmap_2d::Costmap2D *costmap, std::string global_frame)
	LocalPlannerUtil ()
void	reconfigureCB (LocalPlannerLimits &config, bool restore_defaults)
	Callback to update the local planner's parameters. More...
bool	setPlan (const std::vector< geometry_msgs::PoseStamped > &orig_global_plan)
	~LocalPlannerUtil ()

Private Attributes
costmap_2d::Costmap2D *	costmap_
LocalPlannerLimits	default_limits_
std::string	global_frame_
std::vector< geometry_msgs::PoseStamped >	global_plan_
bool	initialized_
LocalPlannerLimits	limits_
boost::mutex	limits_configuration_mutex_
std::string	name_
bool	setup_
tf2_ros::Buffer *	tf_

Detailed Description

Helper class implementing infrastructure code many local planner implementations may need.

Definition at line 92 of file local_planner_util.h.

Constructor & Destructor Documentation

LocalPlannerUtil()

base_local_planner::LocalPlannerUtil::LocalPlannerUtil ( )

inline

Definition at line 119 of file local_planner_util.h.

~LocalPlannerUtil()

base_local_planner::LocalPlannerUtil::~LocalPlannerUtil ( )

inline

Definition at line 121 of file local_planner_util.h.

Member Function Documentation

getCostmap()

costmap_2d::Costmap2D * base_local_planner::LocalPlannerUtil::getCostmap

(

)

Definition at line 108 of file local_planner_util.cpp.

getCurrentLimits()

LocalPlannerLimits base_local_planner::LocalPlannerUtil::getCurrentLimits

(

)

Definition at line 112 of file local_planner_util.cpp.

getGlobalFrame()

std::string base_local_planner::LocalPlannerUtil::getGlobalFrame ( )

inline

Definition at line 138 of file local_planner_util.h.

getGoal()

bool base_local_planner::LocalPlannerUtil::getGoal

(

geometry_msgs::PoseStamped &

goal_pose

)

Definition at line 118 of file local_planner_util.cpp.

getLocalPlan()

bool base_local_planner::LocalPlannerUtil::getLocalPlan	(	const geometry_msgs::PoseStamped &	global_pose,
		std::vector< geometry_msgs::PoseStamped > &	transformed_plan
	)

Definition at line 140 of file local_planner_util.cpp.

initialize()

void base_local_planner::LocalPlannerUtil::initialize	(	tf2_ros::Buffer *	tf,
		costmap_2d::Costmap2D *	costmap,
		std::string	global_frame
	)

Definition at line 79 of file local_planner_util.cpp.

reconfigureCB()

void base_local_planner::LocalPlannerUtil::reconfigureCB	(	LocalPlannerLimits &	config,
		bool	restore_defaults
	)

Callback to update the local planner's parameters.

Definition at line 94 of file local_planner_util.cpp.

setPlan()

bool base_local_planner::LocalPlannerUtil::setPlan

(

const std::vector< geometry_msgs::PoseStamped > &

orig_global_plan

)

Definition at line 126 of file local_planner_util.cpp.

Member Data Documentation

costmap_

costmap_2d::Costmap2D* base_local_planner::LocalPlannerUtil::costmap_

private

Definition at line 99 of file local_planner_util.h.

default_limits_

LocalPlannerLimits base_local_planner::LocalPlannerUtil::default_limits_

private

Definition at line 108 of file local_planner_util.h.

global_frame_

std::string base_local_planner::LocalPlannerUtil::global_frame_

private

Definition at line 97 of file local_planner_util.h.

global_plan_

std::vector<geometry_msgs::PoseStamped> base_local_planner::LocalPlannerUtil::global_plan_

private

Definition at line 103 of file local_planner_util.h.

initialized_

bool base_local_planner::LocalPlannerUtil::initialized_

private

Definition at line 110 of file local_planner_util.h.

limits_

LocalPlannerLimits base_local_planner::LocalPlannerUtil::limits_

private

Definition at line 109 of file local_planner_util.h.

limits_configuration_mutex_

boost::mutex base_local_planner::LocalPlannerUtil::limits_configuration_mutex_

private

Definition at line 106 of file local_planner_util.h.

name_

std::string base_local_planner::LocalPlannerUtil::name_

private

Definition at line 96 of file local_planner_util.h.

setup_

bool base_local_planner::LocalPlannerUtil::setup_

private

Definition at line 107 of file local_planner_util.h.

tf_

tf2_ros::Buffer* base_local_planner::LocalPlannerUtil::tf_

private

Definition at line 100 of file local_planner_util.h.

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

• local_planner_util.h
• local_planner_util.cpp