OMPL Plannification
Path planning with OMPL
ROS_OMPL_Planner Class Reference

ROS implementation class for OMPL_Planner. More...

#include <ROS_OMPL_Planner.hpp>

Public Member Functions

 ROS_OMPL_Planner (int dimension)
 Constructor. More...
 
bool updateMap ()
 Request and load the actual map from the Octomap server.
 
void odomCallback (const nav_msgs::OdometryPtr &odom_msg)
 Callback for getting current vehicle position.
 
bool findPathToGoal (control_turtlebot::FindPathToGoal::Request &request, control_turtlebot::FindPathToGoal::Response &response)
 Find a path. More...
 
void visualizeRRT (const og::SimpleSetup simple_setup)
 Procedure to visualize the resulting path. More...
 
void PublishPath (control_turtlebot::FindPathToGoal::Response &response)
 Publish the resulting path. More...
 
void PublishPath ()
 Publish the resulting path. More...
 
bool getObstacleFlag () const
 Return the flag representing the validity of the current path.
 
bool updatePath ()
 Update the path. More...
 
 ~ROS_OMPL_Planner ()
 Destructor. More...
 

Detailed Description

ROS implementation class for OMPL_Planner.

Definition at line 34 of file ROS_OMPL_Planner.hpp.

Constructor & Destructor Documentation

ROS_OMPL_Planner::ROS_OMPL_Planner ( int  dimension)

Constructor.

Load planning parameters from configuration file. Create the connection with other ROS nodes. Create the OMPL_Planner instance.

Definition at line 10 of file ROS_OMPL_Planner.cpp.

ROS_OMPL_Planner::~ROS_OMPL_Planner ( )

Destructor.

Free dynamicly allowed data.

Definition at line 464 of file ROS_OMPL_Planner.cpp.

Member Function Documentation

bool ROS_OMPL_Planner::findPathToGoal ( control_turtlebot::FindPathToGoal::Request &  request,
control_turtlebot::FindPathToGoal::Response &  response 
)

Find a path.

Find a path from the current position to the goal request. Update the state checker, check the validity of the start/goal state.

Definition at line 115 of file ROS_OMPL_Planner.cpp.

void ROS_OMPL_Planner::PublishPath ( control_turtlebot::FindPathToGoal::Response &  response)

Publish the resulting path.

Publish the path on a topic and in response of the request. Display the path. TOPIC : the first state of the path contains the number of states of the path.

Definition at line 306 of file ROS_OMPL_Planner.cpp.

void ROS_OMPL_Planner::PublishPath ( )

Publish the resulting path.

Publish the path on a topic. Display the path. TOPIC : the first state of the path contains the number of states of the path.

Definition at line 370 of file ROS_OMPL_Planner.cpp.

bool ROS_OMPL_Planner::updatePath ( )

Update the path.

Search a new path from start_state to goal state if there's a collision with the path and an obstacle from the new map. Update the state checker and the obstacle_flag.Check the validity of the start/goal state. Return True if a new path is found or if the path is collision-free. Return False, if the planner found an obstacle but failed to found a new path.

Definition at line 435 of file ROS_OMPL_Planner.cpp.

void ROS_OMPL_Planner::visualizeRRT ( const og::SimpleSetup  simple_setup)

Procedure to visualize the resulting path.

Visualize resulting path.

Definition at line 151 of file ROS_OMPL_Planner.cpp.


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