nav2_route::NodeSpatialTree Class Reference

An object to find kNNs of the graph to determining the start and end nodes to utilize for planning in a free-space-style request of start and goal poses. Since the graph does not change over time, we can precompute this quadtree and reuse it over many requests. More...

#include <nav2_route/include/nav2_route/node_spatial_tree.hpp>

Collaboration diagram for nav2_route::NodeSpatialTree:

Public Member Functions
	NodeSpatialTree ()=default
	Constructor.
	~NodeSpatialTree ()
	Destructor.
void	computeTree (Graph &graph)
	Compute the kd-tree based on the graph node information. More...
bool	findNearestGraphNodesToPose (const geometry_msgs::msg::PoseStamped &pose_in, std::vector< unsigned int > &node_ids)
	Find the closest node to a given pose. More...
void	setNumOfNearestNodes (int num_of_nearest_nodes)
	Set the number of nodes to search in local area for. More...

Protected Attributes
kd_tree_t *	kdtree_
GraphAdaptor *	adaptor_
Graph *	graph_
int	num_of_nearest_nodes_ {3}

Detailed Description

An object to find kNNs of the graph to determining the start and end nodes to utilize for planning in a free-space-style request of start and goal poses. Since the graph does not change over time, we can precompute this quadtree and reuse it over many requests.

Definition at line 67 of file node_spatial_tree.hpp.

Member Function Documentation

computeTree()

void nav2_route::NodeSpatialTree::computeTree

(

Graph &

graph

)

Compute the kd-tree based on the graph node information.

Parameters

graph

The graph of nodes for the route

Definition at line 42 of file node_spatial_tree.cpp.

findNearestGraphNodesToPose()

bool nav2_route::NodeSpatialTree::findNearestGraphNodesToPose	(	const geometry_msgs::msg::PoseStamped &	pose_in,
		std::vector< unsigned int > &	node_ids
	)

Find the closest node to a given pose.

Parameters

pose_in	Pose to find node near
node_id	The return ID of the node

Returns

if successfully found

Definition at line 60 of file node_spatial_tree.cpp.

setNumOfNearestNodes()

void nav2_route::NodeSpatialTree::setNumOfNearestNodes

(

int

num_of_nearest_nodes

)

Set the number of nodes to search in local area for.

Parameters

num	Numbers of nearest nodes to return

Definition at line 37 of file node_spatial_tree.cpp.

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

• nav2_route/include/nav2_route/node_spatial_tree.hpp
• nav2_route/src/node_spatial_tree.cpp