A path smoother implementation using Savitzky Golay filters. More...

Inheritance diagram for nav2_smoother::SavitzkyGolaySmoother:

Collaboration diagram for nav2_smoother::SavitzkyGolaySmoother:

Public Member Functions
	SavitzkyGolaySmoother ()=default
	A constructor for nav2_smoother::SavitzkyGolaySmoother.

	~SavitzkyGolaySmoother () override=default
	A destructor for nav2_smoother::SavitzkyGolaySmoother.

void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &, std::string name, std::shared_ptr< tf2_ros::Buffer >, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber >, std::shared_ptr< nav2_costmap_2d::FootprintSubscriber >) override

void	cleanup () override
	Method to cleanup resources.

void	activate () override
	Method to activate smoother and any threads involved in execution.

void	deactivate () override
	Method to deactivate smoother and any threads involved in execution.

bool	smooth (nav_msgs::msg::Path &path, const rclcpp::Duration &max_time) override
	Method to smooth given path. More...

Public Member Functions inherited from nav2_core::Smoother
virtual	~Smoother ()
	Virtual destructor.

Protected Member Functions
bool	smoothImpl (nav_msgs::msg::Path &path, bool &reversing_segment)
	Smoother method - does the smoothing on a segment. More...

Protected Attributes
bool	do_refinement_

int	refinement_num_

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

Additional Inherited Members
Public Types inherited from nav2_core::Smoother
using	Ptr = std::shared_ptr< nav2_core::Smoother >

Detailed Description

A path smoother implementation using Savitzky Golay filters.

Member Function Documentation

bool nav2_smoother::SavitzkyGolaySmoother::smooth	(	nav_msgs::msg::Path &	path,
		const rclcpp::Duration &	max_time
	)

overridevirtual

Method to smooth given path.

Parameters

path	In-out path to be smoothed
max_time	Maximum duration smoothing should take

Returns: If smoothing was completed (true) or interrupted by time limit (false)

bool nav2_smoother::SavitzkyGolaySmoother::smoothImpl	(	nav_msgs::msg::Path &	path,
		bool &	reversing_segment
	)

protected

Smoother method - does the smoothing on a segment.

Parameters

path	Reference to path
reversing_segment	Return if this is a reversing segment
costmap	Pointer to minimal costmap
max_time	Maximum time to compute, stop early if over limit

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