Function-object for checking whether a goal has been reached. More...
#include <nav2_core/include/nav2_core/goal_checker.hpp>
Public Types | |
| typedef std::shared_ptr< nav2_core::GoalChecker > | Ptr |
Public Member Functions | |
| virtual void | initialize (const nav2::LifecycleNode::WeakPtr &parent, const std::string &plugin_name, const std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros)=0 |
| Initialize any parameters from the NodeHandle. More... | |
| virtual void | reset ()=0 |
| virtual bool | isGoalReached (const geometry_msgs::msg::Pose &query_pose, const geometry_msgs::msg::Pose &goal_pose, const geometry_msgs::msg::Twist &velocity, const nav_msgs::msg::Path &transformed_global_plan)=0 |
| Check whether the goal should be considered reached. More... | |
| virtual bool | getTolerances (geometry_msgs::msg::Pose &pose_tolerance, geometry_msgs::msg::Twist &vel_tolerance, double &path_length_tolerance)=0 |
| Get the maximum possible tolerances used for goal checking in the major types. Any field without a valid entry is replaced with std::numeric_limits<double>::lowest() to indicate that it is not measured. For tolerance across multiple entries (e.x. XY tolerances), both fields will contain this value since it is the maximum tolerance that each independent field could be assuming the other has no error (e.x. X and Y). More... | |
| virtual bool | isGoalXYReached (const geometry_msgs::msg::Pose &query_pose, const geometry_msgs::msg::Pose &goal_pose, const geometry_msgs::msg::Twist &velocity, const nav_msgs::msg::Path &transformed_global_plan)=0 |
| Check if XY goal position has been reached (without considering yaw) This is useful for controllers that want to rotate to goal heading while keeping zero linear velocity but preserving angular velocity capability. More... | |
Detailed Description
Function-object for checking whether a goal has been reached.
This class defines the plugin interface for determining whether you have reached the goal state. This primarily consists of checking the relative positions of two poses (which are presumed to be in the same frame). It can also check the velocity, as some applications require that robot be stopped to be considered as having reached the goal.
Definition at line 61 of file goal_checker.hpp.
Member Function Documentation
◆ getTolerances()
|
pure virtual |
Get the maximum possible tolerances used for goal checking in the major types. Any field without a valid entry is replaced with std::numeric_limits<double>::lowest() to indicate that it is not measured. For tolerance across multiple entries (e.x. XY tolerances), both fields will contain this value since it is the maximum tolerance that each independent field could be assuming the other has no error (e.x. X and Y).
- Parameters
-
pose_tolerance The tolerance used for checking in Pose fields vel_tolerance The tolerance used for checking velocity fields path_length_tolerance The tolerance used for checking the path length
- Returns
- True if the tolerances are valid to use
Implemented in nav2_controller::StoppedGoalChecker, nav2_controller::SimpleGoalChecker, nav2_controller::PositionGoalChecker, nav2_controller::AxisGoalChecker, and nav2_controller::AdaptiveToleranceGoalChecker.
Referenced by mppi::critics::TwirlingCritic::score().
◆ initialize()
|
pure virtual |
Initialize any parameters from the NodeHandle.
- Parameters
-
parent Node pointer for grabbing parameters
Implemented in nav2_controller::StoppedGoalChecker, nav2_controller::SimpleGoalChecker, nav2_controller::PositionGoalChecker, nav2_controller::AxisGoalChecker, and nav2_controller::AdaptiveToleranceGoalChecker.
◆ isGoalReached()
|
pure virtual |
Check whether the goal should be considered reached.
- Parameters
-
query_pose The pose to check goal_pose The pose to check against velocity The robot's current velocity transformed_global_plan The global plan after being processed by the path handler
- Returns
- True if goal is reached
Implemented in nav2_controller::StoppedGoalChecker, nav2_controller::SimpleGoalChecker, nav2_controller::PositionGoalChecker, nav2_controller::AxisGoalChecker, and nav2_controller::AdaptiveToleranceGoalChecker.
◆ isGoalXYReached()
|
pure virtual |
Check if XY goal position has been reached (without considering yaw) This is useful for controllers that want to rotate to goal heading while keeping zero linear velocity but preserving angular velocity capability.
- Parameters
-
query_pose The pose to check goal_pose The pose to check against velocity The robot's current velocity transformed_global_plan The global plan after being processed by the path handler
- Returns
- True if XY goal is reached (position within tolerance, yaw ignored)
Implemented in nav2_controller::StoppedGoalChecker, nav2_controller::SimpleGoalChecker, nav2_controller::PositionGoalChecker, nav2_controller::AxisGoalChecker, and nav2_controller::AdaptiveToleranceGoalChecker.
Referenced by nav2_rotation_shim_controller::RotationShimController::computeVelocityCommands(), nav2_graceful_controller::GracefulController::computeVelocityCommands(), and nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController::shouldRotateToGoalHeading().
The documentation for this class was generated from the following file:
- nav2_core/include/nav2_core/goal_checker.hpp
