nav2_planner::ParameterHandler Class Reference

Handles parameters and dynamic parameters for Planner Server. More...

#include <nav2_planner/include/nav2_planner/parameter_handler.hpp>

Inheritance diagram for nav2_planner::ParameterHandler:

Collaboration diagram for nav2_planner::ParameterHandler:

Public Member Functions
	ParameterHandler (const nav2::LifecycleNode::SharedPtr &node, const rclcpp::Logger &logger)
	Constructor for nav2_planner::ParameterHandler.
Public Member Functions inherited from nav2_util::ParameterHandler< Parameters >
	ParameterHandler (const nav2::LifecycleNode::SharedPtr &node, const rclcpp::Logger &logger)
	Constructor for nav2_util::ParameterHandler.
virtual	~ParameterHandler ()=default
	Destructor for nav2_util::ParameterHandler.
std::mutex &	getMutex ()
	Get the internal mutex used for thread-safe parameter access. More...
Parameters *	getParams ()
	Get a pointer to the internal parameter structure. More...
void	activate ()
	Registers callbacks for dynamic parameter handling.
void	deactivate ()
	Resets callbacks for dynamic parameter handling.

Protected Member Functions
rcl_interfaces::msg::SetParametersResult	validateParameterUpdatesCallback (const std::vector< rclcpp::Parameter > &parameters) override
	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) override
	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...

Protected Attributes
const std::vector< std::string >	default_ids_ {"GridBased"}
const std::vector< std::string >	default_types_ {"nav2_navfn_planner::NavfnPlanner"}
Protected Attributes inherited from nav2_util::ParameterHandler< Parameters >
nav2::LifecycleNode::WeakPtr	node_
std::mutex	mutex_
Parameters	params_
rclcpp::Logger	logger_
rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr	post_set_params_handler_
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	on_set_params_handler_

Detailed Description

Handles parameters and dynamic parameters for Planner Server.

Definition at line 45 of file parameter_handler.hpp.

Member Function Documentation

updateParametersCallback()

void nav2_planner::ParameterHandler::updateParametersCallback ( const std::vector< rclcpp::Parameter > &  parameters )

overrideprotectedvirtual

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.

Implements nav2_util::ParameterHandler< Parameters >.

Definition at line 100 of file parameter_handler.cpp.

validateParameterUpdatesCallback()

rcl_interfaces::msg::SetParametersResult nav2_planner::ParameterHandler::validateParameterUpdatesCallback ( const std::vector< rclcpp::Parameter > &  parameters )

overrideprotectedvirtual

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.

Implements nav2_util::ParameterHandler< Parameters >.

Definition at line 73 of file parameter_handler.cpp.

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

• nav2_planner/include/nav2_planner/parameter_handler.hpp
• nav2_planner/src/parameter_handler.cpp