smoother interface that acts as a virtual base class for all smoother plugins More...
#include <nav2_core/include/nav2_core/smoother.hpp>
Inheritance diagram for nav2_core::Smoother:
Public Types | |
| using | Ptr = std::shared_ptr< nav2_core::Smoother > |
Public Member Functions | |
| virtual | ~Smoother () |
| Virtual destructor. | |
| virtual void | configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &, std::string name, std::shared_ptr< tf2_ros::Buffer >, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber >, std::shared_ptr< nav2_costmap_2d::FootprintSubscriber >)=0 |
| virtual void | cleanup ()=0 |
| Method to cleanup resources. | |
| virtual void | activate ()=0 |
| Method to activate smoother and any threads involved in execution. | |
| virtual void | deactivate ()=0 |
| Method to deactivate smoother and any threads involved in execution. | |
| virtual bool | smooth (nav_msgs::msg::Path &path, const rclcpp::Duration &max_time)=0 |
| Method to smooth given path. More... | |
Detailed Description
smoother interface that acts as a virtual base class for all smoother plugins
Definition at line 38 of file smoother.hpp.
Member Function Documentation
◆ smooth()
|
pure virtual |
Method to smooth given path.
- Parameters
-
path In-out path to be smoothed max_time Maximum duration smoothing should take
- Returns
- If smoothing was completed (true) or interrupted by time limit (false)
Implemented in nav2_smoother::SimpleSmoother, nav2_smoother::SavitzkyGolaySmoother, and nav2_constrained_smoother::ConstrainedSmoother.
The documentation for this class was generated from the following file:
- nav2_core/include/nav2_core/smoother.hpp
