A templated hybrid-A* planner that allows custom node types. More...

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

Inheritance diagram for nav2_smac_planner::SmacPlannerHybridT< NodeT >:

Collaboration diagram for nav2_smac_planner::SmacPlannerHybridT< NodeT >:

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Public Member Functions
	SmacPlannerHybridT ()
	constructor

	~SmacPlannerHybridT ()
	destructor

void	configure (const nav2::LifecycleNode::WeakPtr &parent, std::string name, nav2::TransformBuffer::SharedPtr tf, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros) override
	Configuring plugin. More...

void	cleanup () override
	Cleanup lifecycle node.

void	activate () override
	Activate lifecycle node.

void	deactivate () override
	Deactivate lifecycle node.

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) override
	Creating a plan from start and goal poses. More...

Public Member Functions inherited from nav2_core::GlobalPlanner
virtual	~GlobalPlanner ()
	Virtual destructor.

Protected Member Functions
rcl_interfaces::msg::SetParametersResult	validateParameterUpdatesCallback (const std::vector< rclcpp::Parameter > &parameters)
	Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations. More...

void	updateParametersCallback (const std::vector< rclcpp::Parameter > &parameters)
	Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values. More...

void	updateSearchResolution (double resolution)
	Update resolution-dependent search settings from their world-unit values. Converts the turning radius, analytic expansion maximum length and heuristic lookup size to search-grid units. More...

Protected Attributes
std::unique_ptr< AStarAlgorithm< NodeT > >	_a_star

GridCollisionChecker	_collision_checker

std::unique_ptr< Smoother >	_smoother

rclcpp::Clock::SharedPtr	_clock

rclcpp::Logger	_logger {rclcpp::get_logger("SmacPlannerHybrid")}

nav2_costmap_2d::Costmap2D *	_costmap

std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	_costmap_ros

std::unique_ptr< CostmapDownsampler >	_costmap_downsampler

std::string	_global_frame

std::string	_name

float	_lookup_table_dim

float	_tolerance

bool	_downsample_costmap

int	_downsampling_factor

double	_angle_bin_size

unsigned int	_angle_quantizations

bool	_allow_unknown

int	_max_iterations

int	_max_on_approach_iterations

int	_terminal_checking_interval

SearchInfo	_search_info

double	_max_planning_time

double	_lookup_table_size

double	_search_resolution {0.0}

double	_analytic_expansion_max_length_m

double	_minimum_turning_radius_global_coords

bool	_debug_visualizations

std::string	_motion_model_for_search

MotionModel	_motion_model

GoalHeadingMode	_goal_heading_mode

int	_coarse_search_resolution

nav2::Publisher< nav_msgs::msg::Path >::SharedPtr	_raw_plan_publisher

nav2::Publisher< visualization_msgs::msg::MarkerArray >::SharedPtr	_planned_footprints_publisher

nav2::Publisher< visualization_msgs::msg::MarkerArray >::SharedPtr	_smoothed_footprints_publisher

nav2::Publisher< geometry_msgs::msg::PoseArray >::SharedPtr	_expansions_publisher

std::mutex	_mutex

nav2::LifecycleNode::WeakPtr	_node

rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr	_post_set_params_handler

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	_on_set_params_handler

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

Detailed Description

template<typename NodeT = NodeHybrid>
class nav2_smac_planner::SmacPlannerHybridT< NodeT >

A templated hybrid-A* planner that allows custom node types.

Template Parameters

NodeT The node type to use (default: NodeHybrid)

Definition at line 47 of file smac_planner_hybrid.hpp.

Member Function Documentation

◆ configure()

template<typename NodeT >

void nav2_smac_planner::SmacPlannerHybridT< NodeT >::configure	(	const nav2::LifecycleNode::WeakPtr &	parent,
		std::string	name,
		nav2::TransformBuffer::SharedPtr	tf,
		std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros
	)

overridevirtual

Configuring plugin.

Parameters

parent	Lifecycle node pointer
name	Name of plugin map
tf	Shared ptr of TF2 buffer
costmap_ros	Costmap2DROS object

Implements nav2_core::GlobalPlanner.

Definition at line 59 of file smac_planner_hybrid_impl.hpp.

References nav2_smac_planner::SmootherParams::get().

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◆ createPlan()

template<typename NodeT >

nav_msgs::msg::Path nav2_smac_planner::SmacPlannerHybridT< NodeT >::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
	)

overridevirtual

Creating a plan from start and goal poses.

Parameters

start	Start pose
goal	Goal pose
cancel_checker	Function to check if the action has been canceled

Returns: nav2_msgs::Path of the generated path

Implements nav2_core::GlobalPlanner.

Definition at line 365 of file smac_planner_hybrid_impl.hpp.

References nav2_costmap_2d::Costmap2D::getResolution(), and nav2_costmap_2d::Costmap2D::worldToMapContinuous().

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◆ updateParametersCallback()

template<typename NodeT >

void nav2_smac_planner::SmacPlannerHybridT< NodeT >::updateParametersCallback ( const std::vector< rclcpp::Parameter > & parameters )

protected

Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values.

Parameters

parameters List of parameters that have been updated.

Definition at line 742 of file smac_planner_hybrid_impl.hpp.

References nav2_smac_planner::SmootherParams::get().

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◆ updateSearchResolution()

template<typename NodeT >

void nav2_smac_planner::SmacPlannerHybridT< NodeT >::updateSearchResolution ( double resolution )

protected

Update resolution-dependent search settings from their world-unit values. Converts the turning radius, analytic expansion maximum length and heuristic lookup size to search-grid units.

Parameters

resolution Effective search-grid resolution in meters per cell, including costmap downsampling when enabled.

Definition at line 341 of file smac_planner_hybrid_impl.hpp.

◆ validateParameterUpdatesCallback()

template<typename NodeT >

rcl_interfaces::msg::SetParametersResult nav2_smac_planner::SmacPlannerHybridT< NodeT >::validateParameterUpdatesCallback ( const std::vector< rclcpp::Parameter > & parameters )

protected

Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations.

Parameters

parameters List of parameters that are being updated.

Returns: rcl_interfaces::msg::SetParametersResult Result indicating whether the update is accepted.

Definition at line 627 of file smac_planner_hybrid_impl.hpp.

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

nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp
nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid_impl.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename NodeT = NodeHybrid> class nav2_smac_planner::SmacPlannerHybridT< NodeT >

Member Function Documentation

◆ configure()

◆ createPlan()

◆ updateParametersCallback()

◆ updateSearchResolution()

◆ validateParameterUpdatesCallback()

template<typename NodeT = NodeHybrid>
class nav2_smac_planner::SmacPlannerHybridT< NodeT >