AbstractMetricPlanner Class Reference

Interface for metric planners like Dijkstra and E*. More...

#include <pilot/AbstractMetricPlanner.h>

Inheritance diagram for AbstractMetricPlanner:

Public Types
enum	Status {   OUT_OF_GRID, VALID, INVALID, WAVEFRONT,   OUTDATED, GOAL, OBSTACLE }
	Planner status of a fixed position (planner map cell) More...
typedef std::vector< Point2f >	Carrot
typedef std::function< float(int x, int y, float r)>	CostFn
	Type declaration for a cost function to be used with setGoal(const Polygon2i, ...) or setGoal(const Polygon2f, ...). More...
enum	Flags
typedef std::multimap< std::string, std::string >	ChannelNameMapping
typedef std::map< std::string, Status >	ChannelStatusMap
typedef std::map< std::string, Status >	StatusMap

Public Member Functions
	AbstractMetricPlanner ()
virtual	~AbstractMetricPlanner ()
void	initialize (Authority *parent)
virtual Point2f	getGradient (const Point2f &worldPos) const =0
	Returns the gradient for a position in world coordinates. More...
void	update (const maps::CostMap &map)
	Update the planning context with the current costmap (entire area). More...
virtual void	update (const maps::CostMap &map, const maps::DirtyRegions &dirty)=0
	Update the planning context with the current costmap (dirty regions only) More...
virtual void	setOnewayMap (const maps::OccupancyGrid &onewayMap)=0
	Set a map describing oneway road restrictions. More...
virtual double	infinity () const =0
	Returns the value that is returned by getValue() when cost values are not yet computed or are infinite. More...
virtual double	getValue (const Point2f &worldPos, bool ignoreDoubleBuffer=false) const =0
	Returns the cost value at position (in world coordinates) in the planner map. More...
virtual double	getValueFiltered (const Point2f &worldPos, bool ignoreDoubleBuffer=false) const =0
	Returns the interpolated cost value at position (in world coordinates) in the planner map. More...
virtual Carrot	getCarrot (const Point2f &pos, int maxCount, float maxDistance=1e10f) const =0
	Return the optimal path to the goal, starting at pos. More...
virtual Pose2	getCurrentGoal (const Point2f &pos) const =0
	Return the current goal point. More...
virtual Point2i	world2map (const Point2f &p) const =0
	Convert a given point to integer map coordinates. More...
virtual Point2f	map2world (const Point2i &p) const =0
	Convert a given point to world coordinates. More...
virtual float	getCellSize () const =0
	Get planner map cell size. More...
virtual Rect2f	getRegion () const =0
	Get planner map area (world coordinates) More...
virtual Rect2i	getMapRegion () const =0
	Get planner map area (map coordinates) More...
virtual Duration	getAccumulatedPlanningTime () const =0
	Get accumulated planning time since goal was set. More...
virtual void	setRobotPosition (const Point2f &robotPos)
	Set the current robot position in planner (world position) Base implementation is empty. More...
virtual void	setGoal (const Point2f &goal, float radius, bool clearDoubleBuffer=true, bool prepareNew=true)=0
virtual void	setGoal (const Polygon2i &polygon, int radius=1, bool clearDoubleBuffer=true, bool prepareNew=true)=0
	Sets the interior of the polygon as goal region and additionally adds an optional goal border with the specified radius where the initial costs are set for seeding the wavefront propagation. More...
virtual void	setGoal (const Polygon2f &polygon, float radius=0.1f, bool clearDoubleBuffer=true, bool prepareNew=true)=0
	Same as above but takes world coordinates in meter. More...
virtual void	setGoal (const Polygon2i &polygon, int radius, CostFn &costFn, bool clearDoubleBuffer=true, bool prepareNew=true)=0
	Same as above but additionally allows to specify a cost function that is called for each cell within the polygon to compute the initial costs of that cell. More...
virtual void	setGoal (const Polygon2f &polygon, float radius, CostFn &costFn, bool clearDoubleBuffer=true, bool prepareNew=true)=0
	Same as above but takes world coordinates in meter. More...
virtual bool	hasValidGoal () const =0
	Check if the internal planner has a goal. More...
virtual void	plan (const Point2f &pos, Duration plantime)=0
	High level planning interface. More...
virtual bool	havePlan () const =0
	Returns if we have or have had a valid path to the set goal. More...
virtual bool	havePlanSinceUpdate () const =0
	Returns if we have or have had a valid path to the set goal, after the cost map was updated. More...
virtual Time	lastValidPlan () const =0
	Return last time a valid plan existed. More...
virtual bool	haveWork () const =0
	Low level planning interface. More...
virtual void	planTime (Duration plantime)=0
	Low level planning interface. More...
virtual void	planSteps (int steps)=0
	Low level planning interface. More...
virtual void	planStep ()=0
	Low level planning interface. More...
virtual void	resetPlanningTimeout ()=0
	Reset initial last plan time that is used for timeout. More...
virtual maps::CostMap	getNavFunction (bool ignoreDoubleBuffer=false) const =0
	Creates a deep copy of the navigation function that contains the accumulated costs from each cell to the goal as a potential field. More...
virtual maps::GridMap< uint8, 3 >	dumpNavStatus (bool useDoubleBuffer=false, bool costsInGoalRegion=true)=0
	Create a color image of the navigation function (for user presentation, debugging). More...
virtual maps::GridMap< uint8, 3 >	showNavFunctionNearGoal ()=0
	Create high-res image of navigation function in goal area (for user presentation, debugging). More...
virtual Status	getStatus (const Point2f &p) const =0
	Return planner status at world position. More...
Class const &	getClass () const
void	reflect (Reflector &r)
void	enableSubscriberCallbacks (bool enable)
StatusManager &	getStatusManager ()
void	setHeartbeatInterval (const Duration &interval)
void	setName (const std::string &name)
Duration	getHeartbeatInterval () const
void	heartbeat ()
bool	hasHeartbeatTimeout () const
void	bootup (const std::string &message, const std::string &trText="")
void	bootupFinished ()
void	recoverFinished ()
void	recover (const std::string &message, const std::string &trText="")
void	ok (const std::string &category="")
bool	warning (const std::string &category, const std::string &message, const std::string &trText="")
bool	error (const std::string &category, const std::string &message, const std::string &trText="")
bool	setStatus (Status::StatusMode mode, const std::string &category, const std::string &message, const std::string &trText="")
Status::StatusMode	getStatus () const
StatusMap	getStatusMap () const
StatusManager::StatusMap	getStatusMap () override
StatusManager::StatusMap	getStatusMap () override
void	checkin (const ResourceName &fullname, AuthorityRuntimePtr runtime=AuthorityRuntimePtr())
void	checkin (const ResourceName &ns, const std::string &name, AuthorityRuntimePtr runtime=AuthorityRuntimePtr())
void	checkin (Authority &iParent, const ResourceName &ns, const std::string &name)
void	checkin (Authority &iParent, const std::string &name)
void	checkin (const ResourceName &fullname, AuthorityRuntimePtr runtime=AuthorityRuntimePtr())
void	checkin (const ResourceName &ns, const std::string &name, AuthorityRuntimePtr runtime=AuthorityRuntimePtr())
void	checkin (Authority &iParent, const ResourceName &ns, const std::string &name)
void	checkin (Authority &iParent, const std::string &name)
void	checkout ()
void	checkout ()
bool	isValid () const
bool	isValid () const
void	validate () const
void	validate () const
void	startWithParent (bool start)
void	startWithParent (bool start)
AuthorityRuntimePtr	getRuntime ()
AuthorityRuntimePtr	getRuntime ()
std::set< Authority *>	getChildren ()
std::set< Authority *>	getChildren ()
void	addImmediateHandler (DiagnosticRunnablePtr runnable)
void	addImmediateHandler (DiagnosticRunnablePtr runnable)
void	addImmediateHandlerFunction (F &&fn)
void	addImmediateHandlerFunction (F &&fn)
void	addFinalizeHandler (DiagnosticRunnablePtr runnable)
void	addFinalizeHandler (DiagnosticRunnablePtr runnable)
void	addFinalizeHandlerFunction (F &&fn)
void	addFinalizeHandlerFunction (F &&fn)
TimerPtr	createTimer (Duration period, TimerCallback callback, bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, TimerCallback callback, bool oneshot=false)
TimerPtr	createTimer (Duration period, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false)
TimerPtr	createTimer (Duration period, void(Class::*f)(const Timer &), bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), bool oneshot=false)
TimerPtr	createTimer (Time time, TimerCallback callback)
TimerPtr	createTimer (Time time, void(Class::*f)(const Timer &), Class *obj)
TimerPtr	createTimer (Time time, void(Class::*f)(const Timer &))
TimerPtr	createTimer (Duration period, TimerCallback callback, bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, TimerCallback callback, bool oneshot=false)
TimerPtr	createTimer (Duration period, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false)
TimerPtr	createTimer (Duration period, void(Class::*f)(const Timer &), bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), Class *obj, bool oneshot=false)
TimerPtr	createTimer (Duration period, Duration tolerance, void(Class::*f)(const Timer &), bool oneshot=false)
TimerPtr	createTimer (Time time, TimerCallback callback)
TimerPtr	createTimer (Time time, void(Class::*f)(const Timer &), Class *obj)
TimerPtr	createTimer (Time time, void(Class::*f)(const Timer &))
void	removeTimer (TimerPtr timer)
void	removeTimer (TimerPtr timer)
void	start () override
void	start () override
void	stop () override
void	stop () override
bool	spin (const Duration &maxWait=Duration::infinity())
bool	spin (const Duration &maxWait=Duration::infinity())
bool	hasWork (Time horizon=Time::now()) const
bool	hasWork (Time horizon=Time::now()) const
bool	hasUnrecoverableFailure () const override
bool	hasUnrecoverableFailure () const override
bool	isStarted () const override
bool	isStarted () const override
bool	isRunning () const override
bool	isRunning () const override
std::string	resolveName (const std::string &name) const
std::string	resolveName (const std::string &name) const
std::string	resolveServiceName (const std::string &name) const
std::string	resolveServiceName (const std::string &name) const
Channel< T >	publish (const std::string &channelID)
Channel< T >	publish (const std::string &channelID, const Typename &type)
Channel< T >	publish (const std::string &channelID)
Channel< T >	publish (const std::string &channelID, const Typename &type)
void	unpublish (const std::string &channelID)
void	unpublish (const std::string &channelID)
Channel< T >	subscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Channel< T >	subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread)
Channel< T >	subscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Channel< T >	subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	subscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Channel< T >	publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, const Duration &storageDuration=Duration::seconds(0))
Channel< T >	publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, boost::function< void(ChannelRead< T >)> fn, bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, bool independentThread)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false)
Channel< T >	publishAndSubscribe (const std::string &channelID, void(Class::*f)(ChannelRead< T >), bool independentThread)
Channel< T >	subscribeInterval (const std::string &channelID, boost::function< void(ChannelReadInterval< T >)> fn, const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeInterval (const std::string &channelID, void(Class::*f)(ChannelReadInterval< T >), Class *obj, const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeInterval (const std::string &channelID, void(Class::*f)(ChannelReadInterval< T >), const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeInterval (const std::string &channelID, boost::function< void(ChannelReadInterval< T >)> fn, const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeInterval (const std::string &channelID, void(Class::*f)(ChannelReadInterval< T >), Class *obj, const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeInterval (const std::string &channelID, void(Class::*f)(ChannelReadInterval< T >), const Duration &storageDuration, bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeIntervalByElements (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeIntervalByElements (const std::string &channelID, boost::function< void(ChannelRead< T >)>, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeIntervalByElements (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeIntervalByElements (const std::string &channelID, void(Class::*f)(ChannelRead< T >), Class *obj, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeIntervalByElements (const std::string &channelID, boost::function< void(ChannelRead< T >)>, const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch())
Channel< T >	subscribeIntervalByElements (const std::string &channelID, void(Class::*f)(ChannelRead< T >), const Duration &storageDuration=Duration::seconds(0), bool independentThread=false, const Time &startAfter=Time::unixEpoch())
ChannelRead< T >	waitForData (Channel< T > channel, Duration timeout=Duration::infinity()) const
ChannelRead< T >	waitForData (Channel< T > channel, Duration timeout=Duration::infinity()) const
void	unsubscribe (const std::string &channelID)
void	unsubscribe (const std::string &channelID)
void	unsubscribe (const std::string &channelID)
void	unsubscribe (const std::string &channelID)
Channel< T >	getChannel (const std::string &channelID)
Channel< T >	getChannel (const std::string &channelID)
bool	isSubscribedOn (const std::string &channelID) const
bool	isSubscribedOn (const std::string &channelID) const
	MIRA_DEPRECATED ("Please use isSubscribedOn() instead", bool hasSubscribedOn(const std::string &channelID) const)
	MIRA_DEPRECATED ("Please use isSubscribedOn() instead", bool hasSubscribedOn(const std::string &channelID) const)
bool	hasPublished (const std::string &channelID) const
bool	hasPublished (const std::string &channelID) const
bool	doesChannelExist (const std::string &channelID) const
bool	doesChannelExist (const std::string &channelID) const
bool	waitForChannel (const std::string &channelID, const Duration &timeout=Duration::infinity()) const
bool	waitForChannel (const std::string &channelID, const Duration &timeout=Duration::infinity()) const
bool	isTransformAvailable (const std::string &targetID, const std::string &sourceID) const
bool	isTransformAvailable (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const
bool	isTransformAvailable (const std::string &targetID, const std::string &sourceID) const
bool	isTransformAvailable (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const
bool	waitForTransform (const std::string &targetID, const std::string &sourceID, Duration timeout=Duration::invalid()) const
bool	waitForTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID, Duration timeout=Duration::invalid()) const
bool	waitForTransform (const std::string &targetID, const std::string &sourceID, Duration timeout=Duration::invalid()) const
bool	waitForTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID, Duration timeout=Duration::invalid()) const
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn, Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj, Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time))
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn, Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj, Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Filter &&filter)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, boost::function< void(Transform, Time)> fn)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time), Class *obj)
void	subscribeTransform (const std::string &targetID, const std::string &sourceID, void(Class::*f)(Transform, Time))
Transform	getTransform (const std::string &targetID, const std::string &sourceID, const Time &time, Filter &&filter) const
Transform	getTransform (const std::string &targetID, const std::string &sourceID, const Time &time=Time()) const
Transform	getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID, Filter &&filter) const
Transform	getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID) const
Transform	getTransform (const TransformDesc &desc, const Time &time, Filter &&filter) const
Transform	getTransform (const TransformDesc &desc, const Time &time=Time()) const
Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime, Filter &&filter) const
Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime) const
Transform	getTransform (const std::string &targetID, const std::string &sourceID, const Time &time, Filter &&filter) const
Transform	getTransform (const std::string &targetID, const std::string &sourceID, const Time &time=Time()) const
Transform	getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID, Filter &&filter) const
Transform	getTransform (const std::string &targetID, const Time &targetTime, const std::string &sourceID, const Time &sourceTime, const std::string &fixedID) const
Transform	getTransform (const TransformDesc &desc, const Time &time, Filter &&filter) const
Transform	getTransform (const TransformDesc &desc, const Time &time=Time()) const
Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime, Filter &&filter) const
Transform	getTransform (const TransformDesc &desc, const Time &targetTime, const Time &sourceTime) const
FrameworkTransformerNode *	getTransformNode (const std::string &frameID) const
FrameworkTransformerNode *	getTransformNode (const std::string &frameID) const
TransformDesc	prepareTransform (const std::string &targetID, const std::string &sourceID) const
TransformDesc	prepareTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const
TransformDesc	prepareTransform (const std::string &targetID, const std::string &sourceID) const
TransformDesc	prepareTransform (const std::string &targetID, const std::string &sourceID, const std::string &fixedID) const
void	publishTransform (const std::string &frameID, const Transform &transform, const Time &time) const
void	publishTransform (const std::string &frameID, const Transform &transform, const Time &time) const
void	publishTransformIndirect (const std::string &frameID, const std::string &targetID, const std::string &sourceID, const Transform &transform, const Time &time, Filter &&filter=NearestNeighborInterpolator()) const
void	publishTransformIndirect (const std::string &frameID, const std::string &targetID, const std::string &sourceID, const Transform &transform, const Time &time, Filter &&filter=NearestNeighborInterpolator()) const
void	addTransformLink (const std::string &childID, const std::string &parentID) const
void	addTransformLink (const std::string &childID, const std::string &parentID, FrameworkTransformerNode::Type type) const
void	addTransformLink (const std::string &childID, const std::string &parentID) const
void	addTransformLink (const std::string &childID, const std::string &parentID, FrameworkTransformerNode::Type type) const
void	publishService (const std::string &name, Service &iService, RPCHandlerPtr handler=RPCHandlerPtr())
void	publishService (Service &iService, RPCHandlerPtr handler=RPCHandlerPtr())
void	publishService (const std::string &name, Service &iService, RPCHandlerPtr handler=RPCHandlerPtr())
void	publishService (Service &iService, RPCHandlerPtr handler=RPCHandlerPtr())
void	unpublishService ()
void	unpublishService (const std::string &name)
void	unpublishService ()
void	unpublishService (const std::string &name)
RPCFuture< R >	callService (const std::string &iService, const std::string &method, ARGS &&... args) const
RPCFuture< R >	callService (const std::string &iService, const std::string &method, ARGS &&... args) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const json::Value &jsonRequest) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &jsonString) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &service, const std::string &method, const json::Value &params=json::Value()) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &service, const std::string &method, const std::string &params) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const RPCCallDefinition &rpc) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const json::Value &jsonRequest) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &jsonString) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &service, const std::string &method, const json::Value &params=json::Value()) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const std::string &service, const std::string &method, const std::string &params) const
RPCFuture< JSONRPCResponse >	callServiceJSON (const RPCCallDefinition &rpc) const
ServiceCall< F >	createServiceCall (const std::string &service, std::string method, bool waitTillExists=true, bool showBootupMsg=true)
ServiceCall< F >	createServiceCall (const std::string &service, std::string method, bool waitTillExists=true, bool showBootupMsg=true)
bool	existsService (const std::string &name) const
bool	existsService (const std::string &name) const
bool	implementsInterface (const std::string &name, const std::string &interface) const
bool	implementsInterface (const std::string &name, const std::string &interface) const
bool	waitForService (const std::string &name, Duration timeout=Duration::invalid()) const
bool	waitForService (const std::string &name, Duration timeout=Duration::invalid()) const
std::string	waitForServiceInterface (const std::string &interface, Duration timeout=Duration::invalid()) const
std::string	waitForServiceInterface (const std::string &interface, Duration timeout=Duration::invalid()) const
std::list< std::string >	queryServicesForInterface (const std::string &interface) const
std::list< std::string >	queryServicesForInterface (const std::string &interface) const
void	registerCallbackForInterface (const std::string &interface, ServiceInterfaceHandler::Callback cb)
void	registerCallbackForInterface (const std::string &interface, void(Class::*f)(const std::string &, const std::string &), Class *obj)
void	registerCallbackForInterface (const std::string &interface, ServiceInterfaceHandler::Callback cb)
void	registerCallbackForInterface (const std::string &interface, void(Class::*f)(const std::string &, const std::string &), Class *obj)
boost::shared_ptr< PropertyNode >	getProperties () override
boost::shared_ptr< PropertyNode >	getProperties () override
std::set< std::string >	getPublishedChannels () override
std::set< std::string >	getPublishedChannels () override
std::set< std::string >	getSubscribedChannels () override
std::set< std::string >	getSubscribedChannels () override
std::set< std::string >	getServiceInterfaces () override
std::set< std::string >	getServiceInterfaces () override
ChannelNameMapping	getPublishedChannelNames () override
ChannelNameMapping	getPublishedChannelNames () override
ChannelNameMapping	getSubscribedChannelNames () override
ChannelNameMapping	getSubscribedChannelNames () override
ChannelStatusMap	getSubscribedChannelStatus () override
ChannelStatusMap	getSubscribedChannelStatus () override
std::string	getNamespace () const
std::string	getNamespace () const
std::string	getGlobalName () const
std::string	getGlobalName () const
std::string	getGlobalID () const
std::string	getGlobalID () const
std::string	getID () const
std::string	getID () const
std::string	getName () const
std::string	getName () const
const AuthorityDescription &	getDescription () const
const AuthorityDescription &	getDescription () const

Static Public Member Functions
static PseudoClass const &	CLASS ()

Public Attributes
	NORMAL
	ANONYMOUS
	HIDDEN
	INVISIBLE_PUBLISHER_SUBSCRIBER
	INTERNAL
	INDEPENDENT_SUBSCRIBER_THREAD
	INDEPENDENT_RPC_THREAD
	NO_MAIN_THREAD

Protected Types
typedef std::map< std::string, RWAccessFlags >	RWAccessMap
typedef std::list< AbstractChannelSubscriberPtr >	SubscribePtrList

Protected Member Functions
virtual void	initialize ()
	Called in initialize(parent). More...
virtual Class const &	internalGetClass () const=0
Channel< T >	toProxy (ConcreteChannel< T > *channel)
void	setChannelReadAccess (const std::string &channelID)
void	setChannelWriteAccess (const std::string &channelID)
void	removeChannelReadAccess (const std::string &channelID)
void	removeChannelWriteAccess (const std::string &channelID)
void	insertChannelNameMapping (AbstractAuthority::ChannelNameMapping &map, const std::string &local, const std::string &global)
void	eraseChannelNameMapping (AbstractAuthority::ChannelNameMapping &map, const std::string &local, const std::string &global)
void	remotePublishService (const std::string &service) const
PropertyTree	getPropertiesRPC ()
void	setProperty (const std::string &property, const std::string &value)
std::string	getProperty (const std::string &property) const
void	setPropertyJSON (const std::string &property, const json::Value &value)
json::Value	getPropertyJSON (const std::string &property) const

Protected Attributes
AuthorityDescription	mDescription
boost::optional< Status >	mBootUpStatus
boost::optional< Status >	mRecoverStatus
Duration	mHeartbeatInterval
boost::optional< Time >	mLastHeartbeat
StatusMap	mStatusMap
std::string	mName

Detailed Description

Interface for metric planners like Dijkstra and E*.

Member Typedef Documentation

Carrot

typedef std::vector<Point2f> Carrot

CostFn

typedef std::function<float(int x, int y, float r)> CostFn

Type declaration for a cost function to be used with setGoal(const Polygon2i, ...) or setGoal(const Polygon2f, ...).

CostFn is a function taking parameters int x, int y and float r (a cell's coordinates and distance to goal). The function must return a float value which is the initial cost for cell <x,y>. The distance r is given in cells, and the returned initial costs/distance must be returned in cells (not meter).

Member Enumeration Documentation

Status

enum Status

Planner status of a fixed position (planner map cell)

Enumerator
OUT_OF_GRID
VALID
INVALID
WAVEFRONT
OUTDATED
GOAL
OBSTACLE

Constructor & Destructor Documentation

AbstractMetricPlanner()

AbstractMetricPlanner

(

)

~AbstractMetricPlanner()

virtual ~AbstractMetricPlanner ( )

inlinevirtual

Member Function Documentation

initialize() [1/2]

void initialize

(

Authority *

parent

)

initialize() [2/2]

virtual void initialize ( )

inlineprotectedvirtual

Called in initialize(parent).

Default implementation is empty, can be overwritten in subclasses.

getGradient()

virtual Point2f getGradient ( const Point2f &  worldPos ) const

pure virtual

Returns the gradient for a position in world coordinates.

Implemented in MetricPlannerBase.

update() [1/2]

void update

(

const maps::CostMap &

map

)

Update the planning context with the current costmap (entire area).

Calls update(map, {mapArea}) for the actual work.

update() [2/2]

virtual void update ( const maps::CostMap &  map, const maps::DirtyRegions &  dirty  )

pure virtual

Update the planning context with the current costmap (dirty regions only)

Implemented in MetricPlannerBase.

setOnewayMap()

virtual void setOnewayMap ( const maps::OccupancyGrid &  onewayMap )

pure virtual

Set a map describing oneway road restrictions.

Implemented in MetricPlannerBase.

infinity()

virtual double infinity ( ) const

pure virtual

Returns the value that is returned by getValue() when cost values are not yet computed or are infinite.

Implemented in MetricPlannerBase, and EstarPlanner.

getValue()

virtual double getValue ( const Point2f &  worldPos, bool  ignoreDoubleBuffer = false  ) const

pure virtual

Returns the cost value at position (in world coordinates) in the planner map.

By default the value is taken from the double buffer (if enabled), to ensure the returned value is valid, even while planning is in progress. This can be suppressed by ignoreDoubleBuffer=true.

Implemented in MetricPlannerBase.

getValueFiltered()

virtual double getValueFiltered ( const Point2f &  worldPos, bool  ignoreDoubleBuffer = false  ) const

pure virtual

Returns the interpolated cost value at position (in world coordinates) in the planner map.

Interpolation is taking into account the 4 cells closest to position, weighted with their distance.

Implemented in MetricPlannerBase.

getCarrot()

virtual Carrot getCarrot ( const Point2f &  pos, int  maxCount, float  maxDistance = 1e10f  ) const

pure virtual

Return the optimal path to the goal, starting at pos.

The path consists of (x,y) positions. Path length can be limited by maxCount (number of path entries) or maxDistance (distance between pos and path entry). If neither limit is reached before, the path will end at the goal position.

Implemented in MetricPlannerBase.

getCurrentGoal()

virtual Pose2 getCurrentGoal ( const Point2f &  pos ) const

pure virtual

Return the current goal point.

If a point goal is set, return it. If a polygon goal is set (see setGoal), follow the path starting at pos to find out where it ends.

Implemented in MetricPlannerBase.

world2map()

virtual Point2i world2map ( const Point2f &  p ) const

pure virtual

Convert a given point to integer map coordinates.

Parameters

[in]

p

Point in world coordinates

Returns

Point in map coordinates

Note

The point is not required to be checked against exceeding the map boundaries.

Implemented in MetricPlannerBase.

map2world()

virtual Point2f map2world ( const Point2i &  p ) const

pure virtual

Convert a given point to world coordinates.

Parameters

[in]

p

Point in map coordinates

Returns

Point in world coordinates

Implemented in MetricPlannerBase.

getCellSize()

virtual float getCellSize ( ) const

pure virtual

Get planner map cell size.

Implemented in MetricPlannerBase.

getRegion()

virtual Rect2f getRegion ( ) const

pure virtual

Get planner map area (world coordinates)

Implemented in MetricPlannerBase.

getMapRegion()

virtual Rect2i getMapRegion ( ) const

pure virtual

Get planner map area (map coordinates)

Implemented in MetricPlannerBase.

getAccumulatedPlanningTime()

virtual Duration getAccumulatedPlanningTime ( ) const

pure virtual

Get accumulated planning time since goal was set.

Implemented in MetricPlannerBase.

setRobotPosition()

virtual void setRobotPosition ( const Point2f &  robotPos )

inlinevirtual

Set the current robot position in planner (world position) Base implementation is empty.

setGoal() [1/5]

virtual void setGoal ( const Point2f &  goal, float  radius, bool  clearDoubleBuffer = true, bool  prepareNew = true  )

pure virtual

Parameters

goal
radius
clearDoubleBuffer	If the goal moves steadily, it makes sense not to clear the double buffer and thereby follow the old goal until the path to the new goal position is planned
prepareNew	do preparation for new goal, should be false when just trying to set the same goal again, e.g. because the goal region was entirely inaccessible

Implemented in MetricPlannerBase.

setGoal() [2/5]

virtual void setGoal ( const Polygon2i &  polygon, int  radius = 1, bool  clearDoubleBuffer = true, bool  prepareNew = true  )

pure virtual

Sets the interior of the polygon as goal region and additionally adds an optional goal border with the specified radius where the initial costs are set for seeding the wavefront propagation.

The coordinates of the polygon are given in map coordinates here.

Implemented in MetricPlannerBase.

setGoal() [3/5]

virtual void setGoal ( const Polygon2f &  polygon, float  radius = 0.1f, bool  clearDoubleBuffer = true, bool  prepareNew = true  )

pure virtual

Same as above but takes world coordinates in meter.

Implemented in MetricPlannerBase.

setGoal() [4/5]

virtual void setGoal ( const Polygon2i &  polygon, int  radius, CostFn &  costFn, bool  clearDoubleBuffer = true, bool  prepareNew = true  )

pure virtual

Same as above but additionally allows to specify a cost function that is called for each cell within the polygon to compute the initial costs of that cell.

Implemented in MetricPlannerBase.

setGoal() [5/5]

virtual void setGoal ( const Polygon2f &  polygon, float  radius, CostFn &  costFn, bool  clearDoubleBuffer = true, bool  prepareNew = true  )

pure virtual

Same as above but takes world coordinates in meter.

Implemented in MetricPlannerBase.

hasValidGoal()

virtual bool hasValidGoal ( ) const

pure virtual

Check if the internal planner has a goal.

This can be false even after calling setGoal() e.g. if the entire goal region was occupied by obstacles (which might warrant trying to set the goal again after updating the map).

Implemented in EstarPlanner.

plan()

virtual void plan ( const Point2f &  pos, Duration  plantime  )

pure virtual

High level planning interface.

Plans for the specified planning time (or less, if no more work to do). The specified position corresponds to the robots position in map world coordinates. The planning stops when there is no more work to do. Internally the variables for havePlan(), havePlanSinceUpdate() and lastValidPlan() are updated for the given robot position to indicate if a valid path to the goal is available. Internally, this high level planning interface holds several states to detect if the goal cannot be reached:

Exceptions

XPathLost	if the planning time is longer than the specified PathLostTimout (and if we had a path before). However, this exception is more like a warning. The planning continues and you can continue to call plan(), until the XNoPath exception occurs.
XNoPlan	if the planning time is longer than MaxPlanningTime. This indicates that there is no path to the goal.

Implemented in MetricPlannerBase.

havePlan()

virtual bool havePlan ( ) const

pure virtual

Returns if we have or have had a valid path to the set goal.

Part of the high level planning interface.

Implemented in MetricPlannerBase.

havePlanSinceUpdate()

virtual bool havePlanSinceUpdate ( ) const

pure virtual

Returns if we have or have had a valid path to the set goal, after the cost map was updated.

Part of the high level planning interface.

Implemented in MetricPlannerBase.

lastValidPlan()

virtual Time lastValidPlan ( ) const

pure virtual

Return last time a valid plan existed.

Implemented in MetricPlannerBase.

haveWork()

virtual bool haveWork ( ) const

pure virtual

Low level planning interface.

Returns true, if more planning can be done.

Implemented in EstarPlanner.

planTime()

virtual void planTime ( Duration  plantime )

pure virtual

Low level planning interface.

Plans for the specified planning time (or less, if no more work to do).

Implemented in MetricPlannerBase.

planSteps()

virtual void planSteps ( int  steps )

pure virtual

Low level planning interface.

Performs the specified number of iterations in wavefront propagation (or less, if no more work to do).

Implemented in MetricPlannerBase.

planStep()

virtual void planStep ( )

pure virtual

Low level planning interface.

Performs a single iteration in wavefront propagation.

Implemented in EstarPlanner.

resetPlanningTimeout()

virtual void resetPlanningTimeout ( )

pure virtual

Reset initial last plan time that is used for timeout.

Implemented in MetricPlannerBase.

getNavFunction()

virtual maps::CostMap getNavFunction ( bool  ignoreDoubleBuffer = false ) const

pure virtual

Creates a deep copy of the navigation function that contains the accumulated costs from each cell to the goal as a potential field.

By default the value is taken from the double buffer (if enabled). This can be suppressed by ignoreDoubleBuffer=true.

Implemented in MetricPlannerBase.

dumpNavStatus()

virtual maps::GridMap<uint8,3> dumpNavStatus ( bool  useDoubleBuffer = false, bool  costsInGoalRegion = true  )

pure virtual

Create a color image of the navigation function (for user presentation, debugging).

Implemented in MetricPlannerBase.

showNavFunctionNearGoal()

virtual maps::GridMap<uint8,3> showNavFunctionNearGoal ( )

pure virtual

Create high-res image of navigation function in goal area (for user presentation, debugging).

Implemented in MetricPlannerBase.

getStatus()

virtual Status getStatus ( const Point2f &  p ) const

pure virtual

Return planner status at world position.

Implemented in MetricPlannerBase.

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

• plugins/AbstractMetricPlanner/include/pilot/AbstractMetricPlanner.h