Provides a simple global planner that will compute a valid goal point for the local planner by walking back along the vector between the robot and the user-specified goal point until a valid cost is found. More...

#include <carrot_planner.h>

Inheritance diagram for carrot_planner::CarrotPlanner:

[legend]

Public Member Functions
	CarrotPlanner ()
	Constructor for the CarrotPlanner. More...

	CarrotPlanner (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Constructor for the CarrotPlanner. More...

void	initialize (std::string name, costmap_2d::Costmap2DROS *costmap_ros)
	Initialization function for the CarrotPlanner. More...

bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan)
	Given a goal pose in the world, compute a plan. More...

	~CarrotPlanner ()
	Destructor. More...

Public Member Functions inherited from nav_core::BaseGlobalPlanner
virtual bool	makePlan (const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal, std::vector< geometry_msgs::PoseStamped > &plan, double &cost)

virtual	~BaseGlobalPlanner ()

Private Member Functions
double	footprintCost (double x_i, double y_i, double theta_i)
	Checks the legality of the robot footprint at a position and orientation using the world model. More...

Private Attributes
costmap_2d::Costmap2D *	costmap_

costmap_2d::Costmap2DROS *	costmap_ros_

bool	initialized_

double	min_dist_from_robot_

double	step_size_

base_local_planner::WorldModel *	world_model_
	The world model that the controller will use. More...

Additional Inherited Members
Protected Member Functions inherited from nav_core::BaseGlobalPlanner
	BaseGlobalPlanner ()

Detailed Description

Provides a simple global planner that will compute a valid goal point for the local planner by walking back along the vector between the robot and the user-specified goal point until a valid cost is found.

Definition at line 89 of file carrot_planner.h.

Constructor & Destructor Documentation

◆ CarrotPlanner() [1/2]

carrot_planner::CarrotPlanner::CarrotPlanner ( )

Constructor for the CarrotPlanner.

Definition at line 84 of file carrot_planner.cpp.

◆ CarrotPlanner() [2/2]

carrot_planner::CarrotPlanner::CarrotPlanner	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

Constructor for the CarrotPlanner.

Parameters

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

Definition at line 87 of file carrot_planner.cpp.

◆ ~CarrotPlanner()

carrot_planner::CarrotPlanner::~CarrotPlanner ( )

Destructor.

Definition at line 92 of file carrot_planner.cpp.

Member Function Documentation

◆ footprintCost()

double carrot_planner::CarrotPlanner::footprintCost	(	double	x_i,
		double	y_i,
		double	theta_i
	)

private

Checks the legality of the robot footprint at a position and orientation using the world model.

Parameters

x_i	The x position of the robot
y_i	The y position of the robot
theta_i	The orientation of the robot

Returns

Definition at line 114 of file carrot_planner.cpp.

◆ initialize()

void carrot_planner::CarrotPlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmap_ros
	)

virtual

Initialization function for the CarrotPlanner.

Parameters

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

Implements nav_core::BaseGlobalPlanner.

Definition at line 97 of file carrot_planner.cpp.

◆ makePlan()

bool carrot_planner::CarrotPlanner::makePlan	(	const geometry_msgs::PoseStamped &	start,
		const geometry_msgs::PoseStamped &	goal,
		std::vector< geometry_msgs::PoseStamped > &	plan
	)

virtual

Given a goal pose in the world, compute a plan.

Parameters

start	The start pose
goal	The goal pose
plan	The plan... filled by the planner

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

Implements nav_core::BaseGlobalPlanner.

Definition at line 131 of file carrot_planner.cpp.

Member Data Documentation

◆ costmap_

costmap_2d::Costmap2D* carrot_planner::CarrotPlanner::costmap_

private

Definition at line 127 of file carrot_planner.h.

◆ costmap_ros_

costmap_2d::Costmap2DROS* carrot_planner::CarrotPlanner::costmap_ros_

private

Definition at line 125 of file carrot_planner.h.

◆ initialized_

bool carrot_planner::CarrotPlanner::initialized_

private

Definition at line 139 of file carrot_planner.h.

◆ min_dist_from_robot_

double carrot_planner::CarrotPlanner::min_dist_from_robot_

private

Definition at line 126 of file carrot_planner.h.

◆ step_size_

double carrot_planner::CarrotPlanner::step_size_

private

Definition at line 126 of file carrot_planner.h.

◆ world_model_

base_local_planner::WorldModel* carrot_planner::CarrotPlanner::world_model_

private

The world model that the controller will use.

Definition at line 128 of file carrot_planner.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

◆ CarrotPlanner() [1/2]

◆ CarrotPlanner() [2/2]

◆ ~CarrotPlanner()

Member Function Documentation

◆ footprintCost()

◆ initialize()

◆ makePlan()

Member Data Documentation

◆ costmap_

◆ costmap_ros_

◆ initialized_

◆ min_dist_from_robot_

◆ step_size_

◆ world_model_