nav2_route::GoalIntentSearch::BreadthFirstSearch Class Reference

Public Member Functions
	BreadthFirstSearch (std::shared_ptr< nav2_costmap_2d::Costmap2D > costmap)
	Constructor. More...
bool	search (const geometry_msgs::msg::PoseStamped &reference_node, const std::vector< geometry_msgs::msg::PoseStamped > &candidate_nodes, const int max_iterations=std::numeric_limits< int >::max())
	Search for the closest node to the given reference node. More...
std::vector< unsigned int >	getNeighbors (const unsigned int current_id)
	Get the neighbors of a given node. More...
bool	inCollision (const unsigned int id)
	Check if a node is in collision with the costmap. More...
unsigned int	getClosestNodeIdx ()
	Get the output closest node in candidate indices. More...
	~BreadthFirstSearch ()=default
	Destructor.

Protected Attributes
std::shared_ptr< nav2_costmap_2d::Costmap2D >	costmap_
unsigned int	closest_node_idx_ {0u}

Detailed Description

Definition at line 46 of file goal_intent_search.hpp.

Constructor & Destructor Documentation

BreadthFirstSearch()

nav2_route::GoalIntentSearch::BreadthFirstSearch::BreadthFirstSearch ( std::shared_ptr< nav2_costmap_2d::Costmap2D >  costmap )

inlineexplicit

Constructor.

Parameters

costmap

Costmap to check

Definition at line 53 of file goal_intent_search.hpp.

Member Function Documentation

getClosestNodeIdx()

unsigned int nav2_route::GoalIntentSearch::BreadthFirstSearch::getClosestNodeIdx ( )

inline

Get the output closest node in candidate indices.

Returns

closest_node The closest candidate node index to the given point by search

Definition at line 192 of file goal_intent_search.hpp.

Referenced by nav2_route::GoalIntentExtractor::findStartandGoal().

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getNeighbors()

std::vector<unsigned int> nav2_route::GoalIntentSearch::BreadthFirstSearch::getNeighbors ( const unsigned int  current_id )

inline

Get the neighbors of a given node.

Parameters

current_id

The current node id

Returns

A vector of neighbor node ids

Definition at line 137 of file goal_intent_search.hpp.

References inCollision().

Referenced by search().

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inCollision()

bool nav2_route::GoalIntentSearch::BreadthFirstSearch::inCollision ( const unsigned int  id )

inline

Check if a node is in collision with the costmap.

Parameters

id	The node id to check

Returns

True if the node is in collision, false otherwise

Definition at line 181 of file goal_intent_search.hpp.

Referenced by getNeighbors().

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search()

bool nav2_route::GoalIntentSearch::BreadthFirstSearch::search ( const geometry_msgs::msg::PoseStamped &  reference_node, const std::vector< geometry_msgs::msg::PoseStamped > &  candidate_nodes, const int  max_iterations = std::numeric_limits<int>::max()  )

inline

Search for the closest node to the given reference node.

Parameters

reference_node	The reference node to search from
candidate_nodes	The candidate nodes to search for
max_iterations	The maximum number of iterations to perform

Returns

True if a candidate node is found, false otherwise

Definition at line 65 of file goal_intent_search.hpp.

References getNeighbors().

Referenced by nav2_route::GoalIntentExtractor::findStartandGoal().

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

• nav2_route/include/nav2_route/goal_intent_search.hpp