mppi::TrajectoryVisualizer Class Reference

Visualizes trajectories for debugging. More...

#include <nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp>

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Public Member Functions
	TrajectoryVisualizer ()=default
	Constructor for mppi::TrajectoryVisualizer.
void	on_configure (rclcpp_lifecycle::LifecycleNode::WeakPtr parent, const std::string &name, const std::string &frame_id, ParametersHandler *parameters_handler)
	Configure trajectory visualizer. More...
void	on_cleanup ()
	Cleanup object on shutdown.
void	on_activate ()
	Activate object.
void	on_deactivate ()
	Deactivate object.
void	add (const xt::xtensor< float, 2 > &trajectory, const std::string &marker_namespace, const builtin_interfaces::msg::Time &cmd_stamp)
	Add an optimal trajectory to visualize. More...
void	add (const models::Trajectories &trajectories, const std::string &marker_namespace)
	Add candidate trajectories to visualize. More...
void	visualize (const nav_msgs::msg::Path &plan)
	Visualize the plan. More...
void	reset ()
	Reset object.

Protected Attributes
std::string	frame_id_
std::shared_ptr< rclcpp_lifecycle::LifecyclePublisher< visualization_msgs::msg::MarkerArray > >	trajectories_publisher_
std::shared_ptr< rclcpp_lifecycle::LifecyclePublisher< nav_msgs::msg::Path > >	transformed_path_pub_
std::shared_ptr< rclcpp_lifecycle::LifecyclePublisher< nav_msgs::msg::Path > >	optimal_path_pub_
std::unique_ptr< nav_msgs::msg::Path >	optimal_path_
std::unique_ptr< visualization_msgs::msg::MarkerArray >	points_
int	marker_id_ = 0
ParametersHandler *	parameters_handler_
size_t	trajectory_step_ {0}
size_t	time_step_ {0}
rclcpp::Logger	logger_ {rclcpp::get_logger("MPPIController")}

Detailed Description

Visualizes trajectories for debugging.

Definition at line 44 of file trajectory_visualizer.hpp.

Member Function Documentation

add() [1/2]

void mppi::TrajectoryVisualizer::add	(	const models::Trajectories &	trajectories,
		const std::string &	marker_namespace
	)

Add candidate trajectories to visualize.

Parameters

trajectories

Candidate trajectories

Definition at line 105 of file trajectory_visualizer.cpp.

add() [2/2]

void mppi::TrajectoryVisualizer::add	(	const xt::xtensor< float, 2 > &	trajectory,
		const std::string &	marker_namespace,
		const builtin_interfaces::msg::Time &	cmd_stamp
	)

Add an optimal trajectory to visualize.

Parameters

trajectory

Optimal trajectory

Definition at line 63 of file trajectory_visualizer.cpp.

Referenced by nav2_mppi_controller::MPPIController::visualize().

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on_configure()

void mppi::TrajectoryVisualizer::on_configure	(	rclcpp_lifecycle::LifecycleNode::WeakPtr	parent,
		const std::string &	name,
		const std::string &	frame_id,
		ParametersHandler *	parameters_handler
	)

Configure trajectory visualizer.

Parameters

parent	WeakPtr to node
name	Name of plugin
frame_id	Frame to publish trajectories in
dynamic_parameter_handler	Parameter handler object

Definition at line 21 of file trajectory_visualizer.cpp.

References mppi::ParametersHandler::getParamGetter(), and reset().

Referenced by nav2_mppi_controller::MPPIController::configure().

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visualize()

void mppi::TrajectoryVisualizer::visualize

(

const nav_msgs::msg::Path &

plan

)

Visualize the plan.

Parameters

plan	Plan to visualize

Definition at line 136 of file trajectory_visualizer.cpp.

References reset().

Referenced by nav2_mppi_controller::MPPIController::visualize().

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

• nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp
• nav2_mppi_controller/src/trajectory_visualizer.cpp