LocalGuidance
A library that generates velocity references to follow a path.
local_guidance_path_manager Namespace Reference

Common variables and functions for package local_guidance_path_manager. More...

Classes

class  LocalGuidancePathManager
 
class  PathSmartify
 
class  SubPathsManager
 
class  TraversabilityManager
 

Typedefs

using PathType = navigation_common::PathLocalGuidance
 
using PathTypePtr = std::unique_ptr< PathType >
 
using PoseStampedType = navigation_common::PoseStamped
 
using PoseStampedTypePtr = std::shared_ptr< navigation_common::PoseStamped >
 
using PathSmartifyPtr = std::unique_ptr< PathSmartify >
 
using SubPathsManagerPtr = std::unique_ptr< SubPathsManager >
 
using TraversabilityManagerPtr = std::unique_ptr< TraversabilityManager >
 
using TraversabilityManagerState = TraversabilityManager::State
 

Functions

navigation_msgs::PoseStamped rosPoseStampedToNavigationPoseStampedMsg (const geometry_msgs::PoseStamped &msg)
 
bool addPoseToPathEnd (const navigation_common::PoseStamped &pose, const std::string &localGuidanceMode, const bool &passThroughGoal, PathType *path)
 
bool addPoseToPathStart (const navigation_common::PoseStamped &pose, const std::string &localGuidanceMode, const bool &passThroughGoal, PathType *path)
 
bool addPoseToPath (const navigation_common::PoseStamped &pose, const std::string &localGuidanceMode, const bool &passThroughGoal, const unsigned int id, PathType *path)
 

Variables

static const ros::Duration kTimeoutServerClientWaitForExistence = ros::Duration(2.0)
 
static const double kRateThrottledWarnMessages = 0.5
 

Detailed Description

Common variables and functions for package local_guidance_path_manager.

Implementation of a Traversability Manager, to check whether a (sub)path is traversable.

Implementation of a SubPath Manager. This class is NOT tread safe.

Implementation of a Path Smartify, to make a received path a bit "smarter" before starting following it.

Implementation of a Path Manager in charge of converting a global path in local sub-paths.

Authors
Marco Tranzatto RSL

Typedef Documentation

◆ PathSmartifyPtr

◆ PathType

◆ PathTypePtr

using local_guidance_path_manager::PathTypePtr = typedef std::unique_ptr<PathType>

◆ PoseStampedType

◆ PoseStampedTypePtr

◆ SubPathsManagerPtr

◆ TraversabilityManagerPtr

◆ TraversabilityManagerState

Function Documentation

◆ addPoseToPath()

bool local_guidance_path_manager::addPoseToPath ( const navigation_common::PoseStamped pose,
const std::string &  localGuidanceMode,
const bool &  passThroughGoal,
const unsigned int  id,
PathType path 
)

Creates a new segment with the specified goal, mode, and pass_through option and adds it to the given path in the specified position.

Parameters
[in]posepose to use as goal of the new segment to create.
[in]localGuidanceModelocal guidance mode of the new segment.
[in]passThroughGoalpass_through option of the new segment.
[in]idid of the new segment, following segments are pushed back.

◆ addPoseToPathEnd()

bool local_guidance_path_manager::addPoseToPathEnd ( const navigation_common::PoseStamped pose,
const std::string &  localGuidanceMode,
const bool &  passThroughGoal,
PathType path 
)

Creates a new segment with the specified goal, mode, and pass_through option and adds it to the end of the given path.

Parameters
[in]posepose to use as goal of the new segment to create.
[in]localGuidanceModelocal guidance mode of the new segment.
[in]passThroughGoalpass_through option of the new segment.

◆ addPoseToPathStart()

bool local_guidance_path_manager::addPoseToPathStart ( const navigation_common::PoseStamped pose,
const std::string &  localGuidanceMode,
const bool &  passThroughGoal,
PathType path 
)

Creates a new segment with the specified goal, mode, and pass_through option and adds it to the start of the given path.

Parameters
[in]posepose to use as goal of the new segment to create.
[in]localGuidanceModelocal guidance mode of the new segment.
[in]passThroughGoalpass_through option of the new segment.

◆ rosPoseStampedToNavigationPoseStampedMsg()

navigation_msgs::PoseStamped local_guidance_path_manager::rosPoseStampedToNavigationPoseStampedMsg ( const geometry_msgs::PoseStamped &  msg)

Converts ros geometry_msgs::PoseStamped to navigation_msgs::PoseStamped.

Variable Documentation

◆ kRateThrottledWarnMessages

const double local_guidance_path_manager::kRateThrottledWarnMessages = 0.5
static

◆ kTimeoutServerClientWaitForExistence

const ros::Duration local_guidance_path_manager::kTimeoutServerClientWaitForExistence = ros::Duration(2.0)
static