This class defines the plugin interface used to check the position of the robot to make sure that it is actually progressing towards a goal. More...
#include <nav2_core/include/nav2_core/progress_checker.hpp>
Inheritance diagram for nav2_core::ProgressChecker:
Public Types | |
| typedef std::shared_ptr< nav2_core::ProgressChecker > | Ptr |
Public Member Functions | |
| virtual void | initialize (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, const std::string &plugin_name)=0 |
| Initialize parameters for ProgressChecker. More... | |
| virtual bool | check (geometry_msgs::msg::PoseStamped ¤t_pose)=0 |
| Checks if the robot has moved compare to previous pose. More... | |
| virtual void | reset ()=0 |
| Reset class state upon calling. | |
Detailed Description
This class defines the plugin interface used to check the position of the robot to make sure that it is actually progressing towards a goal.
Definition at line 34 of file progress_checker.hpp.
Member Function Documentation
◆ check()
|
pure virtual |
Checks if the robot has moved compare to previous pose.
- Parameters
-
current_pose Current pose of the robot
- Returns
- True if progress is made
Implemented in nav2_controller::SimpleProgressChecker, and nav2_controller::PoseProgressChecker.
◆ initialize()
|
pure virtual |
Initialize parameters for ProgressChecker.
- Parameters
-
parent Node pointer
Implemented in nav2_controller::SimpleProgressChecker, and nav2_controller::PoseProgressChecker.
The documentation for this class was generated from the following file:
- nav2_core/include/nav2_core/progress_checker.hpp
