LocalPlannerNode Class Reference

#include <LocalPlannerNode.h>

Public Member Functions
	LocalPlannerNode ()
	~LocalPlannerNode ()

Private Member Functions
void	CreateMarker (visualization_msgs::Marker &marker, const char *ns, const int &id, const int &seq)
void	AssembleSparsePath (nav_msgs::Path &currentPath, nav_msgs::Path &filteredPath, const int &viaIncrement, visualization_msgs::Marker &globalPathMaker)
bool	CheckNearPriority ()
void	ObstacleArrayCallback (costmap_converter::ObstacleArrayConstPtr msg)
void	PoseCallback (multirobotsimulations::CustomPose::ConstPtr msg)
void	SubgoalPathCallback (nav_msgs::Path::ConstPtr msg)
void	RobotInCommCallback (std_msgs::Int8MultiArray::ConstPtr msg)
void	Update ()

Private Attributes
int	aQueueSize
int	aSeq
int	aId
int	aRobots
int	aMaxWaypoints
int	aViaIncrement
int	aIncrement
int	aControlsToShare
bool	aUsePriorityBehavior
bool	aReceivedComm
double	aRate
std::string	aNamespace
std::string	aName
std::vector< ros::Timer >	aTimers
std::vector< ros::Subscriber >	aSubscribers
ros::Publisher	aVelocityPublisher
ros::Publisher	aTebPosesPublisher
ros::Publisher	aViaPointsPublisher
geometry_msgs::Twist	aTwistVelMsg
geometry_msgs::PoseStamped	aPrevPoseMsg
geometry_msgs::PoseStamped	aLastPoseMsg
geometry_msgs::PoseArray	aTebPosesMsg
visualization_msgs::Marker	aGlobalPathMsg
std_msgs::Int8MultiArray	aRobotsInCommMsg
nav_msgs::Path	aCurrentPathMsg
nav_msgs::Path	aFilteredPathMsg
multirobotsimulations::CustomPose	aPose
teb_local_planner::TebConfig	aTebConfig
teb_local_planner::ViaPointContainer	aViaPoints
teb_local_planner::TebVisualizationPtr	aVisual
teb_local_planner::RobotFootprintModelPtr	aRobotFootprint
std::vector< teb_local_planner::ObstaclePtr >	aObstacleArray
std::shared_ptr< teb_local_planner::HomotopyClassPlanner >	aPlanner

Constructor & Destructor Documentation

LocalPlannerNode()

LocalPlannerNode::LocalPlannerNode

(

)

~LocalPlannerNode()

LocalPlannerNode::~LocalPlannerNode

(

)

Member Function Documentation

AssembleSparsePath()

void LocalPlannerNode::AssembleSparsePath ( nav_msgs::Path &  currentPath, nav_msgs::Path &  filteredPath, const int &  viaIncrement, visualization_msgs::Marker &  globalPathMaker  )

private

CheckNearPriority()

bool LocalPlannerNode::CheckNearPriority ( )

private

CreateMarker()

void LocalPlannerNode::CreateMarker ( visualization_msgs::Marker &  marker, const char *  ns, const int &  id, const int &  seq  )

private

ObstacleArrayCallback()

void LocalPlannerNode::ObstacleArrayCallback ( costmap_converter::ObstacleArrayConstPtr  msg )

private

PoseCallback()

void LocalPlannerNode::PoseCallback ( multirobotsimulations::CustomPose::ConstPtr  msg )

private

RobotInCommCallback()

void LocalPlannerNode::RobotInCommCallback ( std_msgs::Int8MultiArray::ConstPtr  msg )

private

SubgoalPathCallback()

void LocalPlannerNode::SubgoalPathCallback ( nav_msgs::Path::ConstPtr  msg )

private

Update()

void LocalPlannerNode::Update ( )

private

Member Data Documentation

aControlsToShare

int LocalPlannerNode::aControlsToShare

private

aCurrentPathMsg

nav_msgs::Path LocalPlannerNode::aCurrentPathMsg

private

aFilteredPathMsg

nav_msgs::Path LocalPlannerNode::aFilteredPathMsg

private

aGlobalPathMsg

visualization_msgs::Marker LocalPlannerNode::aGlobalPathMsg

private

aId

int LocalPlannerNode::aId

private

aIncrement

int LocalPlannerNode::aIncrement

private

aLastPoseMsg

geometry_msgs::PoseStamped LocalPlannerNode::aLastPoseMsg

private

aMaxWaypoints

int LocalPlannerNode::aMaxWaypoints

private

aName

std::string LocalPlannerNode::aName

private

aNamespace

std::string LocalPlannerNode::aNamespace

private

aObstacleArray

std::vector<teb_local_planner::ObstaclePtr> LocalPlannerNode::aObstacleArray

private

aPlanner

std::shared_ptr<teb_local_planner::HomotopyClassPlanner> LocalPlannerNode::aPlanner

private

aPose

multirobotsimulations::CustomPose LocalPlannerNode::aPose

private

aPrevPoseMsg

geometry_msgs::PoseStamped LocalPlannerNode::aPrevPoseMsg

private

aQueueSize

int LocalPlannerNode::aQueueSize

private

aRate

double LocalPlannerNode::aRate

private

aReceivedComm

bool LocalPlannerNode::aReceivedComm

private

aRobotFootprint

teb_local_planner::RobotFootprintModelPtr LocalPlannerNode::aRobotFootprint

private

aRobots

int LocalPlannerNode::aRobots

private

aRobotsInCommMsg

std_msgs::Int8MultiArray LocalPlannerNode::aRobotsInCommMsg

private

aSeq

int LocalPlannerNode::aSeq

private

aSubscribers

std::vector<ros::Subscriber> LocalPlannerNode::aSubscribers

private

aTebConfig

teb_local_planner::TebConfig LocalPlannerNode::aTebConfig

private

aTebPosesMsg

geometry_msgs::PoseArray LocalPlannerNode::aTebPosesMsg

private

aTebPosesPublisher

ros::Publisher LocalPlannerNode::aTebPosesPublisher

private

aTimers

std::vector<ros::Timer> LocalPlannerNode::aTimers

private

aTwistVelMsg

geometry_msgs::Twist LocalPlannerNode::aTwistVelMsg

private

aUsePriorityBehavior

bool LocalPlannerNode::aUsePriorityBehavior

private

aVelocityPublisher

ros::Publisher LocalPlannerNode::aVelocityPublisher

private

aViaIncrement

int LocalPlannerNode::aViaIncrement

private

aViaPoints

teb_local_planner::ViaPointContainer LocalPlannerNode::aViaPoints

private

aViaPointsPublisher

ros::Publisher LocalPlannerNode::aViaPointsPublisher

private

aVisual

teb_local_planner::TebVisualizationPtr LocalPlannerNode::aVisual

private

---

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

• src/multirobotexploration/include/nodes/LocalPlannerNode.h