nav2_theta_star_planner::ThetaStarPlanner Class Reference

Inheritance diagram for nav2_theta_star_planner::ThetaStarPlanner:

Collaboration diagram for nav2_theta_star_planner::ThetaStarPlanner:

Public Member Functions
void	configure (const nav2::LifecycleNode::WeakPtr &parent, std::string name, std::shared_ptr< tf2_ros::Buffer > tf, std::shared_ptr< nav2_costmap_2d::Costmap2DROS > costmap_ros) override
void	cleanup () override
	Method to cleanup resources used on shutdown.
void	activate () override
	Method to active planner and any threads involved in execution.
void	deactivate () override
	Method to deactivate planner and any threads involved in execution.
nav_msgs::msg::Path	createPlan (const geometry_msgs::msg::PoseStamped &start, const geometry_msgs::msg::PoseStamped &goal, 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
void	getPlan (nav_msgs::msg::Path &global_path, std::function< bool()> cancel_checker)
	the function responsible for calling the algorithm and retrieving a path from it More...
rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

Static Protected Member Functions
static nav_msgs::msg::Path	linearInterpolation (const std::vector< coordsW > &raw_path, const double &dist_bw_points)
	interpolates points between the consecutive waypoints of the path More...

Protected Attributes
std::shared_ptr< tf2_ros::Buffer >	tf_
rclcpp::Clock::SharedPtr	clock_
rclcpp::Logger	logger_ {rclcpp::get_logger("ThetaStarPlanner")}
std::string	global_frame_
std::string	name_
bool	use_final_approach_orientation_
nav2::LifecycleNode::WeakPtr	parent_node_
std::unique_ptr< theta_star::ThetaStar >	planner_
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	dyn_params_handler_

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

Detailed Description

Definition at line 43 of file theta_star_planner.hpp.

Member Function Documentation

configure()

void nav2_theta_star_planner::ThetaStarPlanner::configure ( const nav2::LifecycleNode::WeakPtr &  parent, std::string  name, std::shared_ptr< tf2_ros::Buffer >  tf, std::shared_ptr< nav2_costmap_2d::Costmap2DROS >  costmap_ros  )

overridevirtual

Parameters

parent	pointer to user's node
name	The name of this planner
tf	A pointer to a TF buffer
costmap_ros	A pointer to the costmap

Implements nav2_core::GlobalPlanner.

Definition at line 27 of file theta_star_planner.cpp.

createPlan()

nav_msgs::msg::Path nav2_theta_star_planner::ThetaStarPlanner::createPlan ( const geometry_msgs::msg::PoseStamped &  start, const geometry_msgs::msg::PoseStamped &  goal, 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 100 of file theta_star_planner.cpp.

References getPlan().

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dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_theta_star_planner::ThetaStarPlanner::dynamicParametersCallback ( std::vector< rclcpp::Parameter >  parameters )

protected

Callback executed when a parameter change is detected.

Parameters

parameters

list of changed parameters

Definition at line 237 of file theta_star_planner.cpp.

Referenced by activate().

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getPlan()

void nav2_theta_star_planner::ThetaStarPlanner::getPlan ( nav_msgs::msg::Path &  global_path, std::function< bool()>  cancel_checker  )

protected

the function responsible for calling the algorithm and retrieving a path from it

Parameters

cancel_checker

is a function to check if the action has been canceled

Returns

global_path is the planned path to be taken

Definition at line 190 of file theta_star_planner.cpp.

References linearInterpolation().

Referenced by createPlan().

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linearInterpolation()

nav_msgs::msg::Path nav2_theta_star_planner::ThetaStarPlanner::linearInterpolation ( const std::vector< coordsW > &  raw_path, const double &  dist_bw_points  )

staticprotected

interpolates points between the consecutive waypoints of the path

Parameters

raw_path	is used to send in the path received from the planner
dist_bw_points	is used to send in the interpolation_resolution (which has been set as the costmap resolution)

Returns

the final path with waypoints at a distance of the value of interpolation_resolution of each other

Definition at line 208 of file theta_star_planner.cpp.

Referenced by getPlan().

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

• nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star_planner.hpp
• nav2_theta_star_planner/src/theta_star_planner.cpp