nav2_smac_planner::SmacPlannerLatticeT< NodeT > Class Template Reference

A templated state lattice planner that allows custom node types. More...

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

Inheritance diagram for nav2_smac_planner::SmacPlannerLatticeT< NodeT >:

Collaboration diagram for nav2_smac_planner::SmacPlannerLatticeT< NodeT >:

Public Member Functions
	SmacPlannerLatticeT ()
	constructor
	~SmacPlannerLatticeT ()
	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...

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("SmacPlannerLattice")}
nav2_costmap_2d::Costmap2D *	_costmap
std::shared_ptr< nav2_costmap_2d::Costmap2DROS >	_costmap_ros
MotionModel	_motion_model
LatticeMetadata	_metadata
std::string	_global_frame
std::string	_name
SearchInfo	_search_info
bool	_allow_unknown
int	_max_iterations
int	_max_on_approach_iterations
int	_terminal_checking_interval
float	_tolerance
nav2::Publisher< nav_msgs::msg::Path >::SharedPtr	_raw_plan_publisher
double	_max_planning_time
double	_lookup_table_size
bool	_debug_visualizations
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
GoalHeadingMode	_goal_heading_mode
int	_coarse_search_resolution
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 = NodeLattice>
class nav2_smac_planner::SmacPlannerLatticeT< NodeT >

A templated state lattice planner that allows custom node types.

Template Parameters

NodeT

The node type to use (default: NodeLattice)

Definition at line 46 of file smac_planner_lattice.hpp.

Member Function Documentation

configure()

template<typename NodeT >

void nav2_smac_planner::SmacPlannerLatticeT< 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 56 of file smac_planner_lattice_impl.hpp.

References nav2_smac_planner::LatticeMotionTable::getLatticeMetadata().

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createPlan()

template<typename NodeT >

nav_msgs::msg::Path nav2_smac_planner::SmacPlannerLatticeT< 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 313 of file smac_planner_lattice_impl.hpp.

updateParametersCallback()

template<typename NodeT >

void nav2_smac_planner::SmacPlannerLatticeT< 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 621 of file smac_planner_lattice_impl.hpp.

References nav2_smac_planner::SmootherParams::get(), and nav2_smac_planner::LatticeMotionTable::getLatticeMetadata().

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validateParameterUpdatesCallback()

template<typename NodeT >

rcl_interfaces::msg::SetParametersResult nav2_smac_planner::SmacPlannerLatticeT< 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 553 of file smac_planner_lattice_impl.hpp.

References nav2_smac_planner::LatticeMotionTable::getLatticeMetadata().

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

• nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp
• nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice_impl.hpp