nav2_route::DynamicEdgesScorer Class Reference

Rejects edges that are in the closed set of edges for navigation to prevent routes from containing paths blocked or otherwise deemed not currently traversable. More...

#include <nav2_route/include/nav2_route/plugins/edge_cost_functions/dynamic_edges_scorer.hpp>

Inheritance diagram for nav2_route::DynamicEdgesScorer:

Collaboration diagram for nav2_route::DynamicEdgesScorer:

Public Member Functions
	DynamicEdgesScorer ()=default
	Constructor.
virtual	~DynamicEdgesScorer ()=default
	destructor
void	configure (const nav2::LifecycleNode::SharedPtr node, const nav2::TransformBuffer::SharedPtr tf_buffer, std::shared_ptr< nav2_costmap_2d::CostmapSubscriber > costmap_subscriber, const std::string &name) override
	Configure.
bool	score (const EdgePtr edge, const RouteRequest &route_request, const EdgeType &edge_type, float &cost) override
	Main scoring plugin API. More...
std::string	getName () override
	Get name of the plugin for parameter scope mapping. More...
void	closedEdgesCb (const std::shared_ptr< rmw_request_id_t > request_header, const std::shared_ptr< nav2_msgs::srv::DynamicEdges::Request > request, std::shared_ptr< nav2_msgs::srv::DynamicEdges::Response > response)
	Service callback to process edge changes. More...
Public Member Functions inherited from nav2_route::EdgeCostFunction
	EdgeCostFunction ()=default
	Constructor.
virtual	~EdgeCostFunction ()=default
	Virtual destructor.
virtual void	prepare ()
	Prepare for a new cycle, by resetting state, grabbing data to use for all immediate requests, or otherwise prepare for scoring.

Protected Attributes
rclcpp::Logger	logger_ {rclcpp::get_logger("DynamicEdgesScorer")}
std::string	name_
std::set< unsigned int >	closed_edges_
std::unordered_map< unsigned int, float >	dynamic_penalties_
nav2::ServiceServer< nav2_msgs::srv::DynamicEdges >::SharedPtr	service_

Additional Inherited Members
Public Types inherited from nav2_route::EdgeCostFunction
using	Ptr = std::shared_ptr< nav2_route::EdgeCostFunction >

Detailed Description

Rejects edges that are in the closed set of edges for navigation to prevent routes from containing paths blocked or otherwise deemed not currently traversable.

Definition at line 38 of file dynamic_edges_scorer.hpp.

Member Function Documentation

closedEdgesCb()

void nav2_route::DynamicEdgesScorer::closedEdgesCb	(	const std::shared_ptr< rmw_request_id_t >	request_header,
		const std::shared_ptr< nav2_msgs::srv::DynamicEdges::Request >	request,
		std::shared_ptr< nav2_msgs::srv::DynamicEdges::Response >	response
	)

Service callback to process edge changes.

Parameters

request	Service request containing newly closed edges or opened edges
response	Response to service (empty)

Definition at line 44 of file dynamic_edges_scorer.cpp.

Referenced by configure().

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getName()

std::string nav2_route::DynamicEdgesScorer::getName ( )

overridevirtual

Get name of the plugin for parameter scope mapping.

Returns

Name

Implements nav2_route::EdgeCostFunction.

Definition at line 89 of file dynamic_edges_scorer.cpp.

Referenced by configure().

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score()

bool nav2_route::DynamicEdgesScorer::score ( const EdgePtr  edge, const RouteRequest &  route_request, const EdgeType &  edge_type, float &  cost  )

overridevirtual

Main scoring plugin API.

Parameters

edge	The edge pointer to score, which has access to the start/end nodes and their associated metadata and actions
cost	of the edge scored

Returns

bool if this edge is open valid to traverse

Implements nav2_route::EdgeCostFunction.

Definition at line 71 of file dynamic_edges_scorer.cpp.

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

• nav2_route/include/nav2_route/plugins/edge_cost_functions/dynamic_edges_scorer.hpp
• nav2_route/src/plugins/edge_cost_functions/dynamic_edges_scorer.cpp