Inheritance diagram for nav2_navfn_planner::NavfnPlanner:

Collaboration diagram for nav2_navfn_planner::NavfnPlanner:

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Public Member Functions
	NavfnPlanner ()
	constructor

	~NavfnPlanner ()
	destructor

void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &parent, std::string name, std::shared_ptr< tf2_ros::Buffer > tf, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros) override
	Configuring plugin. More...

void	cleanup () override
	Cleanup lifecycle node.

void	activate () override
	Activate lifecycle node.

void	deactivate () override
	Deactivate lifecycle node.

nav_msgs::msg::Path	createPlan (const geometry_msgs::msg::PoseStamped &start, const geometry_msgs::msg::PoseStamped &goal, std::function< bool()> cancel_checker) override
	Creating a plan from start and goal poses. More...

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

Protected Member Functions
bool	makePlan (const geometry_msgs::msg::Pose &start, const geometry_msgs::msg::Pose &goal, double tolerance, std::function< bool()> cancel_checker, nav_msgs::msg::Path &plan)
	Compute a plan given start and goal poses, provided in global world frame. More...

bool	computePotential (const geometry_msgs::msg::Point &world_point)
	Compute the navigation function given a seed point in the world to start from. More...

bool	getPlanFromPotential (const geometry_msgs::msg::Pose &goal, nav_msgs::msg::Path &plan)
	Compute a plan to a goal from a potential - must call computePotential first. More...

void	smoothApproachToGoal (const geometry_msgs::msg::Pose &goal, nav_msgs::msg::Path &plan)
	Remove artifacts at the end of the path - originated from planning on a discretized world. More...

double	getPointPotential (const geometry_msgs::msg::Point &world_point)
	Compute the potential, or navigation cost, at a given point in the world must call computePotential first. More...

double	squared_distance (const geometry_msgs::msg::Pose &p1, const geometry_msgs::msg::Pose &p2)
	Compute the squared distance between two points. More...

bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my)
	Transform a point from world to map frame. More...

void	mapToWorld (double mx, double my, double &wx, double &wy)
	Transform a point from map to world frame. More...

void	clearRobotCell (unsigned int mx, unsigned int my)
	Set the corresponding cell cost to be free space. More...

bool	isPlannerOutOfDate ()
	Determine if a new planner object should be made. More...

rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

Protected Attributes
std::unique_ptr< NavFn >	planner_

std::shared_ptr< tf2_ros::Buffer >	tf_

rclcpp::Clock::SharedPtr	clock_

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

nav2_costmap_2d::Costmap2D *	costmap_

std::string	global_frame_

std::string	name_

bool	allow_unknown_

bool	use_final_approach_orientation_

double	tolerance_

bool	use_astar_

rclcpp_lifecycle::LifecycleNode::WeakPtr	node_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_

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

Detailed Description

Definition at line 39 of file navfn_planner.hpp.

Member Function Documentation

◆ clearRobotCell()

void nav2_navfn_planner::NavfnPlanner::clearRobotCell	(	unsigned int	mx,
		unsigned int	my
	)

protected

Set the corresponding cell cost to be free space.

Parameters

mx	int of map X coordinate
my	int of map Y coordinate

Definition at line 521 of file navfn_planner.cpp.

References nav2_costmap_2d::Costmap2D::setCost().

Referenced by makePlan().

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◆ computePotential()

bool nav2_navfn_planner::NavfnPlanner::computePotential ( const geometry_msgs::msg::Point & world_point )

protected

Compute the navigation function given a seed point in the world to start from.

Parameters

world_point Point in world coordinate frame

Returns: true if can compute

◆ configure()

void nav2_navfn_planner::NavfnPlanner::configure	(	const rclcpp_lifecycle::LifecycleNode::WeakPtr &	parent,
		std::string	name,
		std::shared_ptr< tf2_ros::Buffer >	tf,
		std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros
	)

overridevirtual

Configuring plugin.

Parameters

parent	Lifecycle node pointer
name	Name of plugin map
tf	Shared ptr of TF2 buffer
costmap_ros	Costmap2DROS object

Implements nav2_core::GlobalPlanner.

Definition at line 63 of file navfn_planner.cpp.

References nav2_costmap_2d::Costmap2D::getSizeInCellsX(), and nav2_costmap_2d::Costmap2D::getSizeInCellsY().

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◆ createPlan()

nav_msgs::msg::Path nav2_navfn_planner::NavfnPlanner::createPlan	(	const geometry_msgs::msg::PoseStamped &	start,
		const geometry_msgs::msg::PoseStamped &	goal,
		std::function< bool()>	cancel_checker
	)

overridevirtual

Creating a plan from start and goal poses.

Parameters

start	Start pose
goal	Goal pose
cancel_checker	Function to check if the task has been canceled

Returns: nav_msgs::Path of the generated path

Implements nav2_core::GlobalPlanner.

Definition at line 134 of file navfn_planner.cpp.

References nav2_costmap_2d::Costmap2D::getCost(), nav2_costmap_2d::Costmap2D::getSizeInCellsX(), nav2_costmap_2d::Costmap2D::getSizeInCellsY(), isPlannerOutOfDate(), makePlan(), and nav2_costmap_2d::Costmap2D::worldToMap().

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◆ dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_navfn_planner::NavfnPlanner::dynamicParametersCallback ( std::vector< rclcpp::Parameter > parameters )

protected

Callback executed when a parameter change is detected.

Parameters

parameters list of changed parameters

Definition at line 529 of file navfn_planner.cpp.

Referenced by activate().

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◆ getPlanFromPotential()

bool nav2_navfn_planner::NavfnPlanner::getPlanFromPotential	(	const geometry_msgs::msg::Pose &	goal,
		nav_msgs::msg::Path &	plan
	)

protected

Compute a plan to a goal from a potential - must call computePotential first.

Parameters

goal	Goal pose
plan	Path to be computed

Returns: true if can compute a plan path

Definition at line 381 of file navfn_planner.cpp.

References nav2_costmap_2d::Costmap2D::getSizeInCellsX(), nav2_costmap_2d::Costmap2D::getSizeInCellsY(), mapToWorld(), and worldToMap().

Referenced by makePlan().

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◆ getPointPotential()

double nav2_navfn_planner::NavfnPlanner::getPointPotential ( const geometry_msgs::msg::Point & world_point )

protected

Compute the potential, or navigation cost, at a given point in the world must call computePotential first.

Parameters

world_point Point in world coordinate frame

Returns: double point potential (navigation cost)

Definition at line 441 of file navfn_planner.cpp.

References worldToMap().

Referenced by makePlan().

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◆ isPlannerOutOfDate()

bool nav2_navfn_planner::NavfnPlanner::isPlannerOutOfDate ( )

protected

Determine if a new planner object should be made.

Returns: true if planner object is out of date

Definition at line 207 of file navfn_planner.cpp.

References nav2_costmap_2d::Costmap2D::getSizeInCellsX(), and nav2_costmap_2d::Costmap2D::getSizeInCellsY().

Referenced by createPlan().

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◆ makePlan()

bool nav2_navfn_planner::NavfnPlanner::makePlan	(	const geometry_msgs::msg::Pose &	start,
		const geometry_msgs::msg::Pose &	goal,
		double	tolerance,
		std::function< bool()>	cancel_checker,
		nav_msgs::msg::Path &	plan
	)

protected

Compute a plan given start and goal poses, provided in global world frame.

Parameters

start	Start pose
goal	Goal pose
tolerance	Relaxation constraint in x and y
cancel_checker	Function to check if the task has been canceled
plan	Path to be computed