Abstract interface for global planners to adhere to with pluginlib. More...
#include <nav2_core/include/nav2_core/global_planner.hpp>
Public Types | |
| using | Ptr = std::shared_ptr< GlobalPlanner > |
Public Member Functions | |
| virtual | ~GlobalPlanner () |
| Virtual destructor. | |
| virtual void | configure (const nav2::LifecycleNode::WeakPtr &parent, std::string name, nav2::TransformBuffer::SharedPtr tf, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros)=0 |
| virtual void | cleanup ()=0 |
| Method to cleanup resources used on shutdown. | |
| virtual void | activate ()=0 |
| Method to active planner and any threads involved in execution. | |
| virtual void | deactivate ()=0 |
| Method to deactivate planner and any threads involved in execution. | |
| virtual nav_msgs::msg::Path | createPlan (const geometry_msgs::msg::PoseStamped &start, const geometry_msgs::msg::PoseStamped &goal, const std::vector< geometry_msgs::msg::PoseStamped > &viapoints, std::function< bool()> cancel_checker)=0 |
| Method to create the plan from a starting pose, a goal pose, and intermediate viapoints. More... | |
Detailed Description
Abstract interface for global planners to adhere to with pluginlib.
Definition at line 34 of file global_planner.hpp.
Member Function Documentation
◆ configure()
|
pure virtual |
- Parameters
-
parent pointer to user's node name The name of this planner tf A pointer to a TF buffer costmap_ros A pointer to the costmap
Implemented in nav2_theta_star_planner::ThetaStarPlanner, nav2_smac_planner::SmacPlannerLatticeT< NodeT >, nav2_smac_planner::SmacPlannerHybridT< NodeT >, nav2_smac_planner::SmacPlanner2DT< NodeT >, nav2_navfn_planner::NavfnPlanner, and nav2_system_tests::UnknownErrorPlanner.
◆ createPlan()
|
pure virtual |
Method to create the plan from a starting pose, a goal pose, and intermediate viapoints.
- Parameters
-
start The starting pose of the robot goal The goal pose of the robot viapoints The intermediate viapoints for the robot cancel_checker Function to check if the action has been canceled
- Returns
- The sequence of poses to get from start to goal, if any
Implemented in nav2_theta_star_planner::ThetaStarPlanner, nav2_smac_planner::SmacPlannerLatticeT< NodeT >, nav2_smac_planner::SmacPlannerHybridT< NodeT >, nav2_smac_planner::SmacPlanner2DT< NodeT >, nav2_navfn_planner::NavfnPlanner, and nav2_system_tests::UnknownErrorPlanner.
The documentation for this class was generated from the following file:
- nav2_core/include/nav2_core/global_planner.hpp
