nav2_regulated_pure_pursuit_controller::PathHandler Class Reference

Handles input paths to transform them to local frames required. More...

#include <nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/path_handler.hpp>

Collaboration diagram for nav2_regulated_pure_pursuit_controller::PathHandler:

Public Member Functions
	PathHandler (tf2::Duration transform_tolerance, std::shared_ptr< tf2_ros::Buffer > tf, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros)
	Constructor for nav2_regulated_pure_pursuit_controller::PathHandler.
	~PathHandler ()=default
	Destrructor for nav2_regulated_pure_pursuit_controller::PathHandler.
nav_msgs::msg::Path	transformGlobalPlan (const geometry_msgs::msg::PoseStamped &pose, double max_robot_pose_search_dist, bool reject_unit_path=false)
	Transforms global plan into same frame as pose and clips poses ineligible for lookaheadPoint Points ineligible to be selected as a lookahead point if they are any of the following: More...
bool	transformPose (const std::string frame, const geometry_msgs::msg::PoseStamped &in_pose, geometry_msgs::msg::PoseStamped &out_pose) const
	Transform a pose to another frame. More...
void	setPlan (const nav_msgs::msg::Path &path)
nav_msgs::msg::Path	getPlan ()

Protected Member Functions
double	getCostmapMaxExtent () const

Protected Attributes
rclcpp::Logger	logger_ {rclcpp::get_logger("RPPPathHandler")}
tf2::Duration	transform_tolerance_
std::shared_ptr< tf2_ros::Buffer >	tf_
std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_
nav_msgs::msg::Path	global_plan_

Detailed Description

Handles input paths to transform them to local frames required.

Definition at line 39 of file path_handler.hpp.

Member Function Documentation

getCostmapMaxExtent()

double nav2_regulated_pure_pursuit_controller::PathHandler::getCostmapMaxExtent ( ) const

protected

Get the greatest extent of the costmap in meters from the center.

Returns

max of distance from center in meters to edge of costmap

Definition at line 40 of file path_handler.cpp.

Referenced by transformGlobalPlan().

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transformGlobalPlan()

nav_msgs::msg::Path nav2_regulated_pure_pursuit_controller::PathHandler::transformGlobalPlan	(	const geometry_msgs::msg::PoseStamped &	pose,
		double	max_robot_pose_search_dist,
		bool	reject_unit_path = false
	)

Transforms global plan into same frame as pose and clips poses ineligible for lookaheadPoint Points ineligible to be selected as a lookahead point if they are any of the following:

• Outside the local_costmap (collision avoidance cannot be assured)

  Parameters

  pose	pose to transform
  max_robot_pose_search_dist	Distance to search for matching nearest path point
  reject_unit_path	If true, fail if path has only one pose

  Returns

  Path in new frame

Definition at line 48 of file path_handler.cpp.

References getCostmapMaxExtent(), and transformPose().

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transformPose()

bool nav2_regulated_pure_pursuit_controller::PathHandler::transformPose	(	const std::string	frame,
		const geometry_msgs::msg::PoseStamped &	in_pose,
		geometry_msgs::msg::PoseStamped &	out_pose
	)		const

Transform a pose to another frame.

Parameters

frame	Frame ID to transform to
in_pose	Pose input to transform
out_pose	transformed output

Returns

bool if successful

Definition at line 131 of file path_handler.cpp.

Referenced by transformGlobalPlan().

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

• nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/path_handler.hpp
• nav2_regulated_pure_pursuit_controller/src/path_handler.cpp