Regulated pure pursuit controller plugin. More...

Inheritance diagram for nav2_constrained_smoother::ConstrainedSmoother:

Collaboration diagram for nav2_constrained_smoother::ConstrainedSmoother:

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Public Member Functions
	ConstrainedSmoother ()=default
	Constructor for nav2_constrained_smoother::ConstrainedSmoother.

	~ConstrainedSmoother () override=default
	Destrructor for nav2_constrained_smoother::ConstrainedSmoother.

void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::string name, std::shared_ptr< tf2_ros::Buffer > tf, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber > costmap_sub, std::shared_ptr< nav2_costmap_2d::FootprintSubscriber > footprint_sub) override
	Configure smoother parameters and member variables. More...

void	cleanup () override
	Cleanup controller state machine.

void	activate () override
	Activate controller state machine.

void	deactivate () override
	Deactivate controller state machine.

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 Attributes
std::shared_ptr< tf2_ros::Buffer >	tf_

std::string	plugin_name_

std::shared_ptr< nav2_costmap_2d::CostmapSubscriber >	costmap_sub_

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

std::unique_ptr< nav2_constrained_smoother::Smoother >	smoother_

SmootherParams	smoother_params_

OptimizerParams	optimizer_params_

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

Detailed Description

Regulated pure pursuit controller plugin.

Definition at line 38 of file constrained_smoother.hpp.

Member Function Documentation

void nav2_constrained_smoother::ConstrainedSmoother::configure	(	const rclcpp_lifecycle::LifecycleNode::WeakPtr &	parent,
		std::string	name,
		std::shared_ptr< tf2_ros::Buffer >	tf,
		std::shared_ptr< nav2_costmap_2d::CostmapSubscriber >	costmap_sub,
		std::shared_ptr< nav2_costmap_2d::FootprintSubscriber >	footprint_sub
	)

overridevirtual

Configure smoother parameters and member variables.

Parameters

parent	WeakPtr to node
name	Name of plugin
tf	TF buffer
costmap_ros	Costmap2DROS object of environment

Definition at line 42 of file constrained_smoother.cpp.

bool nav2_constrained_smoother::ConstrainedSmoother::smooth	(	nav_msgs::msg::Path &	path,
		const rclcpp::Duration &	max_time
	)

overridevirtual

Method to smooth given path.

Parameters

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

Definition at line 91 of file constrained_smoother.cpp.

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

nav2_constrained_smoother/include/nav2_constrained_smoother/constrained_smoother.hpp
nav2_constrained_smoother/src/constrained_smoother.cpp