nav2_smoother::SimpleSmoother Class Reference

A path smoother implementation. More...

#include <nav2_smoother/include/nav2_smoother/simple_smoother.hpp>

Inheritance diagram for nav2_smoother::SimpleSmoother:

Collaboration diagram for nav2_smoother::SimpleSmoother:

Public Member Functions
	SimpleSmoother ()=default
	A constructor for nav2_smoother::SimpleSmoother.
	~SimpleSmoother () override=default
	A destructor for nav2_smoother::SimpleSmoother.
void	configure (const rclcpp_lifecycle::LifecycleNode::WeakPtr &, std::string name, std::shared_ptr< tf2_ros::Buffer >, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber >, std::shared_ptr< nav2_costmap_2d::FootprintSubscriber >) override
void	cleanup () override
	Method to cleanup resources.
void	activate () override
	Method to activate smoother and any threads involved in execution.
void	deactivate () override
	Method to deactivate smoother and any threads involved in execution.
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 Member Functions
void	smoothImpl (nav_msgs::msg::Path &path, bool &reversing_segment, const nav2_costmap_2d::Costmap2D *costmap, const double &max_time)
	Smoother method - does the smoothing on a segment. More...
double	getFieldByDim (const geometry_msgs::msg::PoseStamped &msg, const unsigned int &dim)
	Get the field value for a given dimension. More...
void	setFieldByDim (geometry_msgs::msg::PoseStamped &msg, const unsigned int dim, const double &value)
	Set the field value for a given dimension. More...

Protected Attributes
double	tolerance_
double	data_w_
double	smooth_w_
int	max_its_
int	refinement_ctr_
int	refinement_num_
bool	do_refinement_
bool	enforce_path_inversion_
std::shared_ptr< nav2_costmap_2d::CostmapSubscriber >	costmap_sub_
rclcpp::Logger	logger_ {rclcpp::get_logger("SimpleSmoother")}

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

Detailed Description

A path smoother implementation.

Definition at line 43 of file simple_smoother.hpp.

Member Function Documentation

getFieldByDim()

double nav2_smoother::SimpleSmoother::getFieldByDim ( const geometry_msgs::msg::PoseStamped &  msg, const unsigned int &  dim  )

inlineprotected

Get the field value for a given dimension.

Parameters

msg	Current pose to sample
dim	Dimension ID of interest

Returns

dim value

Definition at line 205 of file simple_smoother.cpp.

setFieldByDim()

void nav2_smoother::SimpleSmoother::setFieldByDim ( geometry_msgs::msg::PoseStamped &  msg, const unsigned int  dim, const double &  value  )

inlineprotected

Set the field value for a given dimension.

Parameters

msg	Current pose to sample
dim	Dimension ID of interest
value	to set the dimension to for the pose

Definition at line 217 of file simple_smoother.cpp.

smooth()

bool nav2_smoother::SimpleSmoother::smooth ( nav_msgs::msg::Path &  path, const rclcpp::Duration &  max_time  )

overridevirtual

Method to smooth given path.

Parameters

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

Returns

If smoothing was completed (true) or interrupted by time limit (false)

Implements nav2_core::Smoother.

Definition at line 62 of file simple_smoother.cpp.

smoothImpl()

void nav2_smoother::SimpleSmoother::smoothImpl ( nav_msgs::msg::Path &  path, bool &  reversing_segment, const nav2_costmap_2d::Costmap2D *  costmap, const double &  max_time  )

protected

Smoother method - does the smoothing on a segment.

Parameters

path	Reference to path
reversing_segment	Return if this is a reversing segment
costmap	Pointer to minimal costmap
max_time	Maximum time to compute, stop early if over limit

Definition at line 112 of file simple_smoother.cpp.

References nav2_costmap_2d::Costmap2D::getCost(), and nav2_costmap_2d::Costmap2D::worldToMap().

Here is the call graph for this function:

---

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

• nav2_smoother/include/nav2_smoother/simple_smoother.hpp
• nav2_smoother/src/simple_smoother.cpp