#include <a_star_planner_gpp.h>

Inheritance diagram for cb_global_planner::AStarPlannerGPP:

Public Member Functions
	AStarPlannerGPP ()
	Constructor for the AStarPlannerGPP object. More...

bool	checkPlan (const std::vector< geometry_msgs::PoseStamped > &plan)
	Check if plan is valid. More...

void	initialize (std::string name, tf2_ros::Buffer tf, costmap_2d::Costmap2DROS global_costmap_ros)
	Initialization function for the AStarPlannerGPP object. More...

bool	makePlan (const geometry_msgs::PoseStamped &start, const cb_base_navigation_msgs::PositionConstraint &pc, std::vector< geometry_msgs::PoseStamped > &plan, std::vector< tf2::Vector3 > &goal_positions)
	Given a set of goal constraints, compute a plan. More...

	~AStarPlannerGPP ()

Public Member Functions inherited from cb_global_planner::GlobalPlannerPlugin
virtual	~GlobalPlannerPlugin ()
	Virtual destructor for the interface. More...

Private Member Functions
bool	calculateMapConstraintArea (std::vector< unsigned int > &mx, std::vector< unsigned int > &my, std::vector< tf2::Vector3 > &goal_positions)

bool	constraintChanged (const cb_base_navigation_msgs::PositionConstraint &pc)

bool	evaluateConstraint (const tf2::Vector3 &p)

void	planToWorld (const std::vector< int > &plan_xs, const std::vector< int > &plan_ys, std::vector< geometry_msgs::PoseStamped > &plan)

bool	queryEntityPose (const std::string &id, tf2::Transform &pose)

bool	updateConstraintPositionsInConstraintFrame (const cb_base_navigation_msgs::PositionConstraint &pc)

Private Attributes
ros::ServiceClient	ed_client_
	World model client. More...

costmap_2d::Costmap2DROS *	global_costmap_ros_

std::vector< tf2::Vector3 >	goal_positions_in_constraint_frame_

bool	initialized_

cb_base_navigation_msgs::PositionConstraint	pc_

std::unique_ptr< AStarPlanner >	planner_

tf2_ros::Buffer *	tf_

Additional Inherited Members
Protected Member Functions inherited from cb_global_planner::GlobalPlannerPlugin
	GlobalPlannerPlugin ()

Detailed Description

Definition at line 41 of file a_star_planner_gpp.h.

Constructor & Destructor Documentation

◆ AStarPlannerGPP()

cb_global_planner::AStarPlannerGPP::AStarPlannerGPP ( )

Constructor for the AStarPlannerGPP object.

Definition at line 53 of file a_star_planner_gpp.cpp.

◆ ~AStarPlannerGPP()

cb_global_planner::AStarPlannerGPP::~AStarPlannerGPP ( )

Definition at line 73 of file a_star_planner_gpp.cpp.

Member Function Documentation

◆ calculateMapConstraintArea()

bool cb_global_planner::AStarPlannerGPP::calculateMapConstraintArea	(	std::vector< unsigned int > &	mx,
		std::vector< unsigned int > &	my,
		std::vector< tf2::Vector3 > &	goal_positions
	)

private

Definition at line 240 of file a_star_planner_gpp.cpp.

◆ checkPlan()

bool cb_global_planner::AStarPlannerGPP::checkPlan ( const std::vector< geometry_msgs::PoseStamped > & plan )

virtual

Check if plan is valid.

Parameters

plan	plan to check

Returns: Validity of the plan

Implements cb_global_planner::GlobalPlannerPlugin.

Definition at line 311 of file a_star_planner_gpp.cpp.

◆ constraintChanged()

bool cb_global_planner::AStarPlannerGPP::constraintChanged ( const cb_base_navigation_msgs::PositionConstraint & pc )

inlineprivate

Definition at line 84 of file a_star_planner_gpp.h.

◆ evaluateConstraint()

bool cb_global_planner::AStarPlannerGPP::evaluateConstraint ( const tf2::Vector3 & p )

private

◆ initialize()

void cb_global_planner::AStarPlannerGPP::initialize	(	std::string	name,
		tf2_ros::Buffer *	tf,
		costmap_2d::Costmap2DROS *	global_costmap_ros
	)

virtual

Initialization function for the AStarPlannerGPP object.

Parameters

name	The name of this planner
tf	Pointer to the tf2_ros::Buffer
costmap_ros	A pointer to the ROS wrapper of the costmap to use for planning

Implements cb_global_planner::GlobalPlannerPlugin.

Definition at line 57 of file a_star_planner_gpp.cpp.

◆ makePlan()

bool cb_global_planner::AStarPlannerGPP::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const cb_base_navigation_msgs::PositionConstraint &	pc,
		std::vector< geometry_msgs::PoseStamped > &	plan,
		std::vector< tf2::Vector3 > &	goal_positions
	)

virtual

Given a set of goal constraints, compute a plan.

Parameters

start	The start pose
pc	Position contraints on the goal position
plan	The plan... filled by the planner

Returns: True if a valid plan was found, false otherwise

Implements cb_global_planner::GlobalPlannerPlugin.

Definition at line 77 of file a_star_planner_gpp.cpp.

◆ planToWorld()

void cb_global_planner::AStarPlannerGPP::planToWorld	(	const std::vector< int > &	plan_xs,
		const std::vector< int > &	plan_ys,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

private

Definition at line 278 of file a_star_planner_gpp.cpp.

◆ queryEntityPose()

bool cb_global_planner::AStarPlannerGPP::queryEntityPose	(	const std::string &	id,
		tf2::Transform &	pose
	)

private

Definition at line 20 of file a_star_planner_gpp.cpp.

◆ updateConstraintPositionsInConstraintFrame()

bool cb_global_planner::AStarPlannerGPP::updateConstraintPositionsInConstraintFrame ( const cb_base_navigation_msgs::PositionConstraint & pc )

private

Definition at line 194 of file a_star_planner_gpp.cpp.

Member Data Documentation

◆ ed_client_

ros::ServiceClient cb_global_planner::AStarPlannerGPP::ed_client_

private

World model client.

Definition at line 95 of file a_star_planner_gpp.h.

◆ global_costmap_ros_

costmap_2d::Costmap2DROS* cb_global_planner::AStarPlannerGPP::global_costmap_ros_

private

Definition at line 79 of file a_star_planner_gpp.h.

◆ goal_positions_in_constraint_frame_

std::vector<tf2::Vector3> cb_global_planner::AStarPlannerGPP::goal_positions_in_constraint_frame_

private

Definition at line 92 of file a_star_planner_gpp.h.

◆ initialized_

bool cb_global_planner::AStarPlannerGPP::initialized_

private

Definition at line 82 of file a_star_planner_gpp.h.

◆ pc_

cb_base_navigation_msgs::PositionConstraint cb_global_planner::AStarPlannerGPP::pc_

private

Definition at line 91 of file a_star_planner_gpp.h.

◆ planner_

std::unique_ptr<AStarPlanner> cb_global_planner::AStarPlannerGPP::planner_

private

Definition at line 80 of file a_star_planner_gpp.h.

◆ tf_

tf2_ros::Buffer* cb_global_planner::AStarPlannerGPP::tf_

private

Definition at line 81 of file a_star_planner_gpp.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AStarPlannerGPP()

◆ ~AStarPlannerGPP()

Member Function Documentation

◆ calculateMapConstraintArea()

◆ checkPlan()

◆ constraintChanged()

◆ evaluateConstraint()

◆ initialize()

◆ makePlan()

◆ planToWorld()

◆ queryEntityPose()

◆ updateConstraintPositionsInConstraintFrame()

Member Data Documentation

◆ ed_client_

◆ global_costmap_ros_

◆ goal_positions_in_constraint_frame_

◆ initialized_

◆ pc_

◆ planner_

◆ tf_