An action server to load graph files into the graph object for search and processing. More...

Collaboration diagram for nav2_route::GraphLoader:

Public Member Functions
	GraphLoader (rclcpp_lifecycle::LifecycleNode::SharedPtr node, std::shared_ptr< tf2_ros::Buffer > tf, const std::string frame)
	A constructor for nav2_route::GraphLoader. More...

	~GraphLoader ()=default
	A destructor for nav2_route::GraphLoader.

bool	loadGraphFromFile (Graph &graph, GraphToIDMap &idx_map, const std::string &filepath)
	Loads a graph object with file information from a filepath. More...

bool	loadGraphFromParameter (Graph &graph, GraphToIDMap &idx_map)
	Loads a graph object with file information from ROS parameter, if provided. More...

bool	transformGraph (Graph &graph)
	Transform the coordinates in the graph to the route frame. More...

Protected Attributes
std::string	route_frame_

std::string	graph_filepath_

std::shared_ptr< tf2_ros::Buffer >	tf_

rclcpp::Logger	logger_ {rclcpp::get_logger("GraphLoader")}

pluginlib::ClassLoader< GraphFileLoader >	plugin_loader_

GraphFileLoader::Ptr	graph_file_loader_

std::string	default_plugin_id_

std::string	plugin_type_

Detailed Description

An action server to load graph files into the graph object for search and processing.

Definition at line 41 of file graph_loader.hpp.

Constructor & Destructor Documentation

nav2_route::GraphLoader::GraphLoader	(	rclcpp_lifecycle::LifecycleNode::SharedPtr	node,
		std::shared_ptr< tf2_ros::Buffer >	tf,
		const std::string	frame
	)

explicit

Parameters

options Additional options to control creation of the node.

Definition at line 23 of file graph_loader.cpp.

bool nav2_route::GraphLoader::loadGraphFromFile	(	Graph &	graph,
		GraphToIDMap &	idx_map,
		const std::string &	filepath
	)

Loads a graph object with file information from a filepath.

Parameters

graph	Graph to populate
idx_map	A map translating nodeid's to graph idxs for use in graph modification services and idx-based route planning requests. This is much faster than using a map the full graph data structure.
filepath	The filepath to the graph data
graph_file_loader_id	The id of the GraphFileLoader

Definition at line 64 of file graph_loader.cpp.

Here is the call graph for this function:

bool nav2_route::GraphLoader::loadGraphFromParameter	(	Graph &	graph,
		GraphToIDMap &	idx_map
	)

Loads a graph object with file information from ROS parameter, if provided.

Parameters

graph	Graph to populate
idx_map	A map translating nodeid's to graph idxs for use in graph modification services and idx-based route planning requests. This is much faster than using a map the full graph data structure.
graph_file_loader_id	The id of the GraphFileLoader