nav2_graceful_controller::PathHandler Class Reference

Handles input paths to transform them to local frames required. More...

#include <nav2_graceful_controller/include/nav2_graceful_controller/path_handler.hpp>

Collaboration diagram for nav2_graceful_controller::PathHandler:

Public Member Functions
	PathHandler (double transform_tolerance, std::shared_ptr< tf2_ros::Buffer > tf, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros)
	Constructor for nav2_graceful_controller::PathHandler.
	~PathHandler ()=default
	Destructor for nav2_graceful_controller::PathHandler.
nav_msgs::msg::Path	transformGlobalPlan (const geometry_msgs::msg::PoseStamped &pose, double max_robot_pose_search_dist)
	Transforms global plan into same frame as pose and clips poses ineligible for motionTarget Points ineligible to be selected as a motion target point if they are any of the following: More...
void	setPlan (const nav_msgs::msg::Path &path)
	Sets the global plan. More...
nav_msgs::msg::Path	getPlan ()
	Gets the global plan. More...

Protected Attributes
double	transform_tolerance_ {0}
std::shared_ptr< tf2_ros::Buffer >	tf_buffer_
std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	costmap_ros_
nav_msgs::msg::Path	global_plan_
rclcpp::Logger	logger_ {rclcpp::get_logger("GracefulPathHandler")}

Detailed Description

Handles input paths to transform them to local frames required.

Definition at line 31 of file path_handler.hpp.

Member Function Documentation

getPlan()

nav_msgs::msg::Path nav2_graceful_controller::PathHandler::getPlan ( )

inline

Gets the global plan.

Returns

The global plan

Definition at line 71 of file path_handler.hpp.

setPlan()

void nav2_graceful_controller::PathHandler::setPlan

(

const nav_msgs::msg::Path &

path

)

Sets the global plan.

Parameters

path	The global plan

Definition at line 121 of file path_handler.cpp.

transformGlobalPlan()

nav_msgs::msg::Path nav2_graceful_controller::PathHandler::transformGlobalPlan	(	const geometry_msgs::msg::PoseStamped &	pose,
		double	max_robot_pose_search_dist
	)

Transforms global plan into same frame as pose and clips poses ineligible for motionTarget Points ineligible to be selected as a motion target point if they are any of the following:

• Outside the local_costmap (collision avoidance cannot be assured)

  Parameters

  pose	pose to transform
  max_robot_pose_search_dist	Distance to search for matching nearest path point

  Returns

  Path in new frame

Definition at line 41 of file path_handler.cpp.

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

• nav2_graceful_controller/include/nav2_graceful_controller/path_handler.hpp
• nav2_graceful_controller/src/path_handler.cpp