PathObjective Class Reference

#include <topomap/objective/PathObjective.h>

Inheritance diagram for PathObjective:

Public Member Functions
template<typename Reflector >
void	reflect (Reflector &r)
virtual void	initialize ()
virtual void	setTask (boost::shared_ptr< navigation::Task > task)
virtual bool	inGoalRegion (const Pose2 &iRobotInMap, const Point2f &iGoalInMap, const boost::shared_ptr< navigation::PositionTask > &task)
virtual bool	reachedTask ()
virtual void	update ()
virtual void	plan (Duration plantime)
virtual void	prepareVote (float lookAheadTime)
virtual Vote	vote (const mira::robot::PoseVelocityTrajectory &trajectory, float lookAheadTime)
virtual bool	haveValidPath ()
	Is called in prepareVote() to check if the current path is valid and ready to be used. More...
virtual void	updateMetricPlannerGoal (mira::pilot::AbstractMetricPlannerPtr planner, bool initial)
	Is called in plan to set or update the goal position, if the goal is moving, e.g. More...
void	setAdditionalLinkCosts (const std::string &fromGWName, const std::string &toGWName, double costs)
	Define additional costs for a specific link. More...
void	resetAllAdditionalLinkCosts ()
	Reset all additional gateways costs to zero. More...
void	waitForInitCostMapUpdate ()
	If called the objective will wait for the next InitCostMap update before updating the path. More...

Protected Member Functions
void	onInitCostMapChanged (ChannelRead< maps::GridMap< double >> data)
virtual bool	inGoalHysteresis () const
virtual bool	causesWork (navigation::TaskPtr task)
void	clearGoal ()
void	setGoal (const Point2f &goal, const std::string &frame)
void	computeLeafCosts (NodePtr node)
void	localizeGoal (NodePtr node, const std::string &frame, const Point2i &cell, const Point2f &posinmap, MetricCostmapTopoMapPlanner::NodePositionList &nodes)
void	localizeGoalWorld (NodePtr node, const Point2f &pos, const std::string &goalFrame, MetricCostmapTopoMapPlanner::NodePositionList &nodes, bool stayWithinMapTf)

Protected Attributes
TopoMapPtr	mTopoMap
double	mOffset
bool	mInGoalHysteresis
bool	mWaitForInitCostMapUpdate
Channel< std::vector< std::string > >	mLocalizedNodesChannel
Channel< maps::GridMap< uint8, 3 > >	mDbgNavStatusChannel
Channel< mira::model::Marker >	mDbgMarkerChannel
Channel< MetricCostmapTopoMapPlanner::NextSubGoal >	mDbgNextSubGoalChannel
Channel< std::vector< Point2f > >	mPathChannel
boost::shared_ptr< navigation::PositionTask >	mTask
bool	mHaveValidPath
MetricCostmapTopoMapPlanner	mPlanner
Channel< maps::GridMap< double > >	mInitMapChannel
Channel< maps::GridMap< double > >	mCurrentMapChannel
boost::optional< uint32 >	mLastSequence

Member Function Documentation

reflect()

void reflect ( Reflector &  r )

inline

initialize()

virtual void initialize ( )

virtual

setTask()

virtual void setTask ( boost::shared_ptr< navigation::Task >  task )

virtual

inGoalRegion()

virtual bool inGoalRegion ( const Pose2 &  iRobotInMap, const Point2f &  iGoalInMap, const boost::shared_ptr< navigation::PositionTask > &  task  )

virtual

reachedTask()

virtual bool reachedTask ( )

virtual

update()

virtual void update ( )

virtual

plan()

virtual void plan ( Duration  plantime )

virtual

prepareVote()

virtual void prepareVote ( float  lookAheadTime )

virtual

vote()

virtual Vote vote ( const mira::robot::PoseVelocityTrajectory &  trajectory, float  lookAheadTime  )

virtual

haveValidPath()

virtual bool haveValidPath ( )

virtual

Is called in prepareVote() to check if the current path is valid and ready to be used.

Derived classes can overwrite this method to perform additional checks.

updateMetricPlannerGoal()

virtual void updateMetricPlannerGoal ( mira::pilot::AbstractMetricPlannerPtr  planner, bool  initial  )

virtual

Is called in plan to set or update the goal position, if the goal is moving, e.g.

The parameter initial specifies if this is the first call of this method for the goal node.

setAdditionalLinkCosts()

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

inline

Define additional costs for a specific link.

resetAllAdditionalLinkCosts()

void resetAllAdditionalLinkCosts ( )

inline

Reset all additional gateways costs to zero.

waitForInitCostMapUpdate()

void waitForInitCostMapUpdate ( )

inline

If called the objective will wait for the next InitCostMap update before updating the path.

onInitCostMapChanged()

void onInitCostMapChanged ( ChannelRead< maps::GridMap< double >>  data )

protected

inGoalHysteresis()

virtual bool inGoalHysteresis ( ) const

protectedvirtual

causesWork()

virtual bool causesWork ( navigation::TaskPtr  task )

protectedvirtual

clearGoal()

void clearGoal ( )

protected

setGoal()

void setGoal ( const Point2f &  goal, const std::string &  frame  )

protected

computeLeafCosts()

void computeLeafCosts ( NodePtr  node )

protected

localizeGoal()

void localizeGoal ( NodePtr  node, const std::string &  frame, const Point2i &  cell, const Point2f &  posinmap, MetricCostmapTopoMapPlanner::NodePositionList &  nodes  )

protected

localizeGoalWorld()

void localizeGoalWorld ( NodePtr  node, const Point2f &  pos, const std::string &  goalFrame, MetricCostmapTopoMapPlanner::NodePositionList &  nodes, bool  stayWithinMapTf  )

protected

Member Data Documentation

mTopoMap

TopoMapPtr mTopoMap

protected

mOffset

double mOffset

protected

mInGoalHysteresis

bool mInGoalHysteresis

protected

mWaitForInitCostMapUpdate

bool mWaitForInitCostMapUpdate

protected

mLocalizedNodesChannel

Channel<std::vector<std::string> > mLocalizedNodesChannel

protected

mDbgNavStatusChannel

Channel<maps::GridMap<uint8,3> > mDbgNavStatusChannel

protected

mDbgMarkerChannel

Channel<mira::model::Marker> mDbgMarkerChannel

protected

mDbgNextSubGoalChannel

Channel<MetricCostmapTopoMapPlanner::NextSubGoal> mDbgNextSubGoalChannel

protected

mPathChannel

Channel<std::vector<Point2f> > mPathChannel

protected

mTask

boost::shared_ptr<navigation::PositionTask> mTask

protected

mHaveValidPath

bool mHaveValidPath

protected

mPlanner

MetricCostmapTopoMapPlanner mPlanner

protected

mInitMapChannel

Channel<maps::GridMap<double> > mInitMapChannel

protected

mCurrentMapChannel

Channel<maps::GridMap<double> > mCurrentMapChannel

protected

mLastSequence

boost::optional<uint32> mLastSequence

protected

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

• include/topomap/objective/PathObjective.h