cb_global_planner::GlobalPlannerPlugin Class Reference

Provides an interface for global planners used in navigation. More...

#include <global_planner_plugin.h>

Inheritance diagram for cb_global_planner::GlobalPlannerPlugin:

Public Member Functions
virtual bool	checkPlan (const std::vector< geometry_msgs::PoseStamped > &plan)=0
	Checks if a plan is valid. More...
virtual void	initialize (std::string name, tf2_ros::Buffer *tf, costmap_2d::Costmap2DROS *global_costmap_ros)=0
	Initialization function for the BaseGlobalPlanner. More...
virtual 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)=0
	Given a set of goal constraints, compute a plan. More...
virtual	~GlobalPlannerPlugin ()
	Virtual destructor for the interface. More...

Protected Member Functions
	GlobalPlannerPlugin ()

Detailed Description

Provides an interface for global planners used in navigation.

Definition at line 32 of file global_planner_plugin.h.

Constructor & Destructor Documentation

~GlobalPlannerPlugin()

virtual cb_global_planner::GlobalPlannerPlugin::~GlobalPlannerPlugin ( )

inlinevirtual

Virtual destructor for the interface.

Definition at line 62 of file global_planner_plugin.h.

GlobalPlannerPlugin()

cb_global_planner::GlobalPlannerPlugin::GlobalPlannerPlugin ( )

inlineprotected

Definition at line 65 of file global_planner_plugin.h.

Member Function Documentation

checkPlan()

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

pure virtual

Checks if a plan is valid.

Parameters

plan	The plan that needs to be checked

Returns

True if a valid plan was valid, false otherwise

Implemented in cb_global_planner::AStarPlannerGPP.

initialize()

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

pure virtual

Initialization function for the BaseGlobalPlanner.

Parameters

name	The name of this planner
tf	tf buffer
costmap_ros	A pointer to the ROS wrapper of the costmap to use for planning

Implemented in cb_global_planner::AStarPlannerGPP.

makePlan()

virtual bool cb_global_planner::GlobalPlannerPlugin::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  )

pure 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

Implemented in cb_global_planner::AStarPlannerGPP.

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

• global_planner_plugin.h