Responsible for managing multiple variables storing information on the goal. More...

#include <nav2_smac_planner/include/nav2_smac_planner/goal_manager.hpp>

Public Types
typedef NodeT *	NodePtr

typedef std::vector< NodePtr >	NodeVector

typedef std::unordered_set< NodePtr >	NodeSet

typedef std::vector< GoalState< NodeT > >	GoalStateVector

typedef NodeT::Coordinates	Coordinates

typedef NodeT::CoordinateVector	CoordinateVector

using	NodeContext = typename NodeT::NodeContext

Public Member Functions
	GoalManager ()
	Constructor: Initializes empty goal state. sets and coordinate lists.

	~GoalManager ()=default
	Destructor for the GoalManager.

void	setContext (NodeContext *ctx)
	Sets the node context for goal nodes. More...

bool	goalsIsEmpty ()
	Checks if the goals set is empty. More...

void	addGoal (NodePtr &goal)
	Adds goal to the goal vector. More...

void	clear ()
	Clears all internal goal data, including goals, states, and coordinates.

void	prepareGoalsForAnalyticExpansion (NodeVector &coarse_check_goals, NodeVector &fine_check_goals, int coarse_search_resolution)
	Populates coarse and fine goal lists for analytic expansion. More...

bool	isZoneValid (const NodePtr node, const float &radius, GridCollisionChecker *collision_checker, const bool &traverse_unknown) const
	Checks if zone within the radius of a node is feasible. Returns true if there's at least one non-lethal cell within the node radius. More...

void	removeInvalidGoals (const float &tolerance, GridCollisionChecker *collision_checker, const bool &traverse_unknown)
	Filters and marks invalid goals based on collision checking and tolerance thresholds. More...

bool	isGoal (const NodePtr &node)
	Check if a given node is part of the goal set. More...

NodeSet &	getGoalsSet ()
	Get pointer reference to goals set vector. More...

GoalStateVector &	getGoalsState ()
	Get pointer reference to goals state. More...

CoordinateVector &	getGoalsCoordinates ()
	Get pointer reference to goals coordinates. More...

void	setRefGoalCoordinates (const Coordinates &coord)
	Set the Reference goal coordinate. More...

bool	hasGoalChanged (const Coordinates &coord)
	Checks whether the Reference goal coordinate has changed. More...

Protected Attributes
NodeSet	_goals_set

GoalStateVector	_goals_state

CoordinateVector	_goals_coordinate

Coordinates	_ref_goal_coord

NodeContext *	_ctx = nullptr

Detailed Description

template<typename NodeT>
class nav2_smac_planner::GoalManager< NodeT >

Responsible for managing multiple variables storing information on the goal.

Definition at line 42 of file goal_manager.hpp.

Member Function Documentation

◆ addGoal()

template<typename NodeT >

void nav2_smac_planner::GoalManager< NodeT >::addGoal ( NodePtr & goal )

inline

Adds goal to the goal vector.

Parameters

goal	Reference to the NodePtr

Definition at line 91 of file goal_manager.hpp.

◆ getGoalsCoordinates()

template<typename NodeT >

CoordinateVector& nav2_smac_planner::GoalManager< NodeT >::getGoalsCoordinates ( )

inline

Get pointer reference to goals coordinates.

Returns: vector of goals coordinates reference to the goals coordinates

Definition at line 261 of file goal_manager.hpp.

◆ getGoalsSet()

template<typename NodeT >

NodeSet& nav2_smac_planner::GoalManager< NodeT >::getGoalsSet ( )

inline

Get pointer reference to goals set vector.

Returns: unordered_set of node pointers reference to the goals nodes

Definition at line 243 of file goal_manager.hpp.

◆ getGoalsState()

template<typename NodeT >

GoalStateVector& nav2_smac_planner::GoalManager< NodeT >::getGoalsState ( )

inline

Get pointer reference to goals state.

Returns: vector of node pointers reference to the goals state

Definition at line 252 of file goal_manager.hpp.

◆ goalsIsEmpty()

template<typename NodeT >

bool nav2_smac_planner::GoalManager< NodeT >::goalsIsEmpty ( )

inline

Checks if the goals set is empty.

Returns: true if the goals set is empty

Definition at line 82 of file goal_manager.hpp.

◆ hasGoalChanged()

template<typename NodeT >

bool nav2_smac_planner::GoalManager< NodeT >::hasGoalChanged ( const Coordinates & coord )

inline

Checks whether the Reference goal coordinate has changed.

Parameters

coord Coordinates to compare with the current Reference goal coordinate.

Returns: true if the Reference goal coordinate has changed, false otherwise.

Note: This function checks if the goal has changed. This has to be done with the coordinates not the Node pointer because the Node pointer can be reused for different goals, but the coordinates will always be unique for each goal.

Definition at line 280 of file goal_manager.hpp.

◆ isGoal()

template<typename NodeT >

bool nav2_smac_planner::GoalManager< NodeT >::isGoal ( const NodePtr & node )

inline

Check if a given node is part of the goal set.

Parameters

node	Node pointer to check.

Returns: if node matches any goal in the goal set.

Definition at line 234 of file goal_manager.hpp.

◆ isZoneValid()

template<typename NodeT >

bool nav2_smac_planner::GoalManager< NodeT >::isZoneValid	(	const NodePtr	node,
		const float &	radius,
		GridCollisionChecker *	collision_checker,
		const bool &	traverse_unknown
	)		const

inline

Checks if zone within the radius of a node is feasible. Returns true if there's at least one non-lethal cell within the node radius.

Parameters

node	Input node.
radius	Search radius.
collision_checker	Collision checker to validate nearby nodes.
traverse_unknown	Flag whether traversal through unknown space is allowed.

Returns: true; false

Definition at line 137 of file goal_manager.hpp.

References nav2_costmap_2d::FootprintCollisionChecker< CostmapT >::getCostmap(), nav2_costmap_2d::Costmap2D::getSizeInCellsX(), and nav2_costmap_2d::Costmap2D::getSizeInCellsY().

Referenced by nav2_smac_planner::GoalManager< NodeT >::removeInvalidGoals().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ prepareGoalsForAnalyticExpansion()

template<typename NodeT >

void nav2_smac_planner::GoalManager< NodeT >::prepareGoalsForAnalyticExpansion	(	NodeVector &	coarse_check_goals,
		NodeVector &	fine_check_goals,
		int	coarse_search_resolution
	)

inline

Populates coarse and fine goal lists for analytic expansion.

Parameters

coarse_check_goals	Output list of goals for coarse search expansion.
fine_check_goals	Output list of goals for fine search refinement.
coarse_search_resolution	Number of fine goals per coarse goal.

Definition at line 112 of file goal_manager.hpp.

◆ removeInvalidGoals()

template<typename NodeT >

void nav2_smac_planner::GoalManager< NodeT >::removeInvalidGoals	(	const float &	tolerance,
		GridCollisionChecker *	collision_checker,
		const bool &	traverse_unknown
	)

inline

Filters and marks invalid goals based on collision checking and tolerance thresholds.

Stores only valid (or tolerably infeasible) goals into internal goal sets and coordinates.

Parameters

tolerance	Heuristic tolerance allowed for infeasible goals.
collision_checker	Collision checker to validate goal positions.
traverse_unknown	Flag whether traversal through unknown space is allowed.

Definition at line 205 of file goal_manager.hpp.

References nav2_smac_planner::GoalManager< NodeT >::isZoneValid().

Here is the call graph for this function:

◆ setContext()

template<typename NodeT >

void nav2_smac_planner::GoalManager< NodeT >::setContext ( NodeContext * ctx )

inline

Sets the node context for goal nodes.

Parameters

ctx	Pointer to the NodeContext

Definition at line 73 of file goal_manager.hpp.

◆ setRefGoalCoordinates()

template<typename NodeT >

void nav2_smac_planner::GoalManager< NodeT >::setRefGoalCoordinates ( const Coordinates & coord )

inline

Set the Reference goal coordinate.

Parameters

coord Coordinates to set as Reference goal

Definition at line 270 of file goal_manager.hpp.

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

nav2_smac_planner/include/nav2_smac_planner/goal_manager.hpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<typename NodeT> class nav2_smac_planner::GoalManager< NodeT >

Member Function Documentation

◆ addGoal()

◆ getGoalsCoordinates()

◆ getGoalsSet()

◆ getGoalsState()

◆ goalsIsEmpty()

◆ hasGoalChanged()

◆ isGoal()

◆ isZoneValid()

◆ prepareGoalsForAnalyticExpansion()

◆ removeInvalidGoals()

◆ setContext()

◆ setRefGoalCoordinates()

template<typename NodeT>
class nav2_smac_planner::GoalManager< NodeT >