nav2_route::PathConverter Class Reference

An helper to convert the route into dense paths. More...

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

Public Member Functions
	PathConverter ()=default
	A constructor for nav2_route::PathConverter.
	~PathConverter ()=default
	A destructor for nav2_route::PathConverter.
void	configure (rclcpp_lifecycle::LifecycleNode::SharedPtr node)
	Configure the object. More...
nav_msgs::msg::Path	densify (const Route &route, const ReroutingState &rerouting_info, const std::string &frame, const rclcpp::Time &now)
	Convert a Route into a dense path. More...
void	interpolateEdge (float x0, float y0, float x1, float y1, std::vector< geometry_msgs::msg::PoseStamped > &poses)
	Convert an individual edge into a dense line. More...

Protected Attributes
rclcpp_lifecycle::LifecyclePublisher< nav_msgs::msg::Path >::SharedPtr	path_pub_
rclcpp::Logger	logger_ {rclcpp::get_logger("PathConverter")}
float	density_
float	smoothing_radius_
bool	smooth_corners_

Detailed Description

An helper to convert the route into dense paths.

Definition at line 37 of file path_converter.hpp.

Member Function Documentation

configure()

void nav2_route::PathConverter::configure

(

rclcpp_lifecycle::LifecycleNode::SharedPtr

node

)

Configure the object.

Parameters

node	Node to use to get params and create interfaces

Definition at line 27 of file path_converter.cpp.

densify()

nav_msgs::msg::Path nav2_route::PathConverter::densify	(	const Route &	route,
		const ReroutingState &	rerouting_info,
		const std::string &	frame,
		const rclcpp::Time &	now
	)

Convert a Route into a dense path.

Parameters

route	Route object
rerouting_info	Re-Route info in case partial path to be populated
frame	Frame ID from planning
now	Time

Returns

Path of the route

Definition at line 45 of file path_converter.cpp.

References nav2_route::CornerArc::getCornerEnd(), nav2_route::CornerArc::getCornerStart(), nav2_route::CornerArc::interpolateArc(), interpolateEdge(), and nav2_route::CornerArc::isCornerValid().

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interpolateEdge()

void nav2_route::PathConverter::interpolateEdge	(	float	x0,
		float	y0,
		float	x1,
		float	y1,
		std::vector< geometry_msgs::msg::PoseStamped > &	poses
	)

Convert an individual edge into a dense line.

Parameters

x0	X initial
y0	Y initial
x1	X final
y1	Y final
poses	Pose vector reference to populate

Definition at line 137 of file path_converter.cpp.

Referenced by densify().

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

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