MetricCostmapTopoMapPlanner Class Reference

Hybrid metric-topological planner for 2D costmaps. More...

#include <planner/MetricCostmapTopoMapPlanner.h>

Classes
class	IEventListener
struct	NextSubGoal
struct	NodePosition
struct	PlannerContext

Public Types
typedef PlannerContext *	PlannerContextPtr
typedef std::list< NodePosition >	NodePositionList
typedef boost::function< void(mira::pilot::AbstractMetricPlannerPtr, bool)>	UpdateGoalFn

Public Member Functions
	MetricCostmapTopoMapPlanner ()
template<typename Reflector >
void	reflect (Reflector &r)
bool	isInFinalApproach () const
	Returns true, if the robot is within the goal node and driving directly to the goal. More...
bool	isActive () const
double	getValue (const Point2f &worldPos) const
double	getValueFiltered (const Point2f &worldPos) const
mira::pilot::AbstractMetricPlanner::Carrot	getCarrot (const Point2f &pos, int count, float length=1e10f) const
void	resetCostMaps ()
	Reset all cost maps to the inital values. More...
void	setEventListener (IEventListener *listener)
PlannerContextPtr	getCurrentPlanner ()
PlannerContextPtr	getNextPlanner ()
mira::maps::GridMap< double >	getNavFunction (bool ignoreDoubleBuffer=false)
mira::maps::GridMap< uint8, 3 >	dumpNavStatus (bool actualMap=false, bool costsInGoalRegion=true)
void	initialize (TopoMapPtr map, Authority *authority)
	initializes the planner with the given topo map More...
void	setGoal (const NodePositionList &goalNodes, UpdateGoalFn updateGoalFn)
void	update (const maps::CostMap &map)
	update the planning context with the current costmap (entire area) More...
void	update (const maps::CostMap &map, const maps::DirtyRegions &dirty)
	update the planning context with the current costmap (dirty regions only) More...
bool	havePlan () const
	Returns true if we have or have had a valid to the set goal. More...
void	plan (const mira::maps::CostMap &curCostmap, const Point2f &robotPos, const NodePositionList &localizedNodes, Duration plantime)
void	clearGoal ()
void	setAdditionalLinkCosts (const std::string &fromGWName, const std::string &toGWName, double costs)
void	resetAllAdditionalLinkCosts ()
void	setDebugMarkerChannel (Channel< mira::model::Marker > c)
void	setDebugNextSubGoalChannel (Channel< NextSubGoal > c)

Static Public Member Functions
static void	printNextSubGoal (const NextSubGoal &nsg, const std::string &name)

Friends
struct	ResetCostMapsVisitor

Detailed Description

Hybrid metric-topological planner for 2D costmaps.

Member Typedef Documentation

PlannerContextPtr

typedef PlannerContext* PlannerContextPtr

NodePositionList

typedef std::list<NodePosition> NodePositionList

UpdateGoalFn

typedef boost::function<void(mira::pilot::AbstractMetricPlannerPtr, bool)> UpdateGoalFn

Constructor & Destructor Documentation

MetricCostmapTopoMapPlanner()

MetricCostmapTopoMapPlanner

(

)

Member Function Documentation

reflect()

void reflect ( Reflector &  r )

inline

printNextSubGoal()

static void printNextSubGoal ( const NextSubGoal &  nsg, const std::string &  name  )

static

isInFinalApproach()

bool isInFinalApproach ( ) const

inline

Returns true, if the robot is within the goal node and driving directly to the goal.

isActive()

bool isActive

(

)

const

getValue()

double getValue

(

const Point2f &

worldPos

)

const

getValueFiltered()

double getValueFiltered

(

const Point2f &

worldPos

)

const

getCarrot()

mira::pilot::AbstractMetricPlanner::Carrot getCarrot	(	const Point2f &	pos,
		int	count,
		float	length = 1e10f
	)		const

resetCostMaps()

void resetCostMaps

(

)

Reset all cost maps to the inital values.

All cost maps, which were updated due to a replanning, will be discarded.

setEventListener()

void setEventListener ( IEventListener *  listener )

inline

getCurrentPlanner()

PlannerContextPtr getCurrentPlanner ( )

inline

getNextPlanner()

PlannerContextPtr getNextPlanner ( )

inline

getNavFunction()

mira::maps::GridMap<double> getNavFunction

(

bool

ignoreDoubleBuffer = false

)

dumpNavStatus()

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

initialize()

void initialize	(	TopoMapPtr	map,
		Authority *	authority
	)

initializes the planner with the given topo map

setGoal()

void setGoal	(	const NodePositionList &	goalNodes,
		UpdateGoalFn	updateGoalFn
	)

update() [1/2]

void update

(

const maps::CostMap &

map

)

update the planning context with the current costmap (entire area)

update() [2/2]

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

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

havePlan()

bool havePlan

(

)

const

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

plan()

void plan	(	const mira::maps::CostMap &	curCostmap,
		const Point2f &	robotPos,
		const NodePositionList &	localizedNodes,
		Duration	plantime
	)

clearGoal()

void clearGoal

(

)

setAdditionalLinkCosts()

void setAdditionalLinkCosts ( const std::string &  fromGWName, const std::string &  toGWName, double  costs  )

inline

resetAllAdditionalLinkCosts()

void resetAllAdditionalLinkCosts ( )

inline

setDebugMarkerChannel()

void setDebugMarkerChannel ( Channel< mira::model::Marker >  c )

inline

setDebugNextSubGoalChannel()

void setDebugNextSubGoalChannel ( Channel< NextSubGoal >  c )

inline

Friends And Related Function Documentation

ResetCostMapsVisitor

friend struct ResetCostMapsVisitor

friend

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

• include/planner/MetricCostmapTopoMapPlanner.h