nav2_smac_planner::SmacPlannerLattice Class Reference

Inheritance diagram for nav2_smac_planner::SmacPlannerLattice:

Collaboration diagram for nav2_smac_planner::SmacPlannerLattice:

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

Protected Attributes
std::unique_ptr< AStarAlgorithm< NodeLattice > >	_a_star
GridCollisionChecker	_collision_checker
std::unique_ptr< Smoother >	_smoother
rclcpp::Clock::SharedPtr	_clock
rclcpp::Logger	_logger {rclcpp::get_logger("SmacPlannerLattice")}
nav2_costmap_2d::Costmap2D *	_costmap
std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	_costmap_ros
MotionModel	_motion_model
LatticeMetadata	_metadata
std::string	_global_frame
std::string	_name
SearchInfo	_search_info
bool	_allow_unknown
int	_max_iterations
int	_max_on_approach_iterations
int	_terminal_checking_interval
float	_tolerance
rclcpp_lifecycle::LifecyclePublisher< nav_msgs::msg::Path >::SharedPtr	_raw_plan_publisher
double	_max_planning_time
double	_lookup_table_size
bool	_debug_visualizations
rclcpp_lifecycle::LifecyclePublisher< visualization_msgs::msg::MarkerArray >::SharedPtr	_planned_footprints_publisher
rclcpp_lifecycle::LifecyclePublisher< visualization_msgs::msg::MarkerArray >::SharedPtr	_smoothed_footprints_publisher
rclcpp_lifecycle::LifecyclePublisher< geometry_msgs::msg::PoseArray >::SharedPtr	_expansions_publisher
GoalHeadingMode	_goal_heading_mode
int	_coarse_search_resolution
std::mutex	_mutex
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 smac_planner_lattice.hpp.

Member Function Documentation

configure()

void nav2_smac_planner::SmacPlannerLattice::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 46 of file smac_planner_lattice.cpp.

References nav2_smac_planner::LatticeMotionTable::getLatticeMetadata(), and nav2_costmap_2d::Costmap2D::getResolution().

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createPlan()

nav_msgs::msg::Path nav2_smac_planner::SmacPlannerLattice::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 action has been canceled

Returns

nav2_msgs::Path of the generated path

Implements nav2_core::GlobalPlanner.

Definition at line 312 of file smac_planner_lattice.cpp.

References nav2_costmap_2d::Costmap2D::getResolution(), nav2_smac_planner::GridCollisionChecker::setFootprint(), and nav2_costmap_2d::Costmap2D::worldToMapContinuous().

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dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_smac_planner::SmacPlannerLattice::dynamicParametersCallback ( std::vector< rclcpp::Parameter >  parameters )

protected

Callback executed when a parameter change is detected.

Parameters

parameters

list of changed parameters

Definition at line 538 of file smac_planner_lattice.cpp.

References nav2_smac_planner::SmootherParams::get(), nav2_smac_planner::LatticeMotionTable::getLatticeMetadata(), and nav2_costmap_2d::Costmap2D::getResolution().

Referenced by activate().

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

• nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp
• nav2_smac_planner/src/smac_planner_lattice.cpp