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<p>HelloWorld for <a class="el" href="class_o_m_p_l___planner.html" title="Class for planner for 2D and 3D planning. ">OMPL_Planner</a> class.
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<div class="textblock"><code>#include <iostream></code><br />
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int </td><td class="memItemRight" valign="bottom"><b>main</b> (int argc, char **argv)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>HelloWorld for <a class="el" href="class_o_m_p_l___planner.html" title="Class for planner for 2D and 3D planning. ">OMPL_Planner</a> class. </p>
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<dl class="section author"><dt>Author</dt><dd>Harlé Antoine (<a href="#" onclick="location.href='mai'+'lto:'+'ant'+'oi'+'ne.'+'h@'+'fly'+'la'+'b.i'+'o'; return false;">antoi<span style="display: none;">.nosp@m.</span>ne.h<span style="display: none;">.nosp@m.</span>@flyl<span style="display: none;">.nosp@m.</span>ab.i<span style="display: none;">.nosp@m.</span>o</a>) </dd></dl>
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<dl class="section date"><dt>Date</dt><dd>7/2017 - 8/2017 </dd></dl>
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<p>Definition in file <a class="el" href="_hello___world_8cpp_source.html">Hello_World.cpp</a>.</p>
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<div class="textblock"><p>Path planning (without differential constraints) using OMPL with Octomap to represent workspace and to validate if configurations are collision-free. </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Harlé Antoine (<a href="#" onclick="location.href='mai'+'lto:'+'ant'+'oi'+'ne.'+'h@'+'fly'+'la'+'b.i'+'o'; return false;">antoi<span style="display: none;">.nosp@m.</span>ne.h<span style="display: none;">.nosp@m.</span>@flyl<span style="display: none;">.nosp@m.</span>ab.i<span style="display: none;">.nosp@m.</span>o</a>) </dd></dl>
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<p>Path planning (without differential constraints) using OMPL with Octomap to represent workspace and to validate if configurations are collision-free.
|
||||
<a href="#details">More...</a></p>
|
||||
<div class="textblock"><code>#include <ompl/geometric/SimpleSetup.h></code><br />
|
||||
<code>#include <ompl/geometric/planners/cforest/CForest.h></code><br />
|
||||
<code>#include <ompl/geometric/planners/rrt/RRTstar.h></code><br />
|
||||
<code>#include <ompl/base/spaces/SE3StateSpace.h></code><br />
|
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<code>#include <ompl/base/spaces/SE2StateSpace.h></code><br />
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<code>#include "StateChecker.hpp"</code><br />
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Include dependency graph for OMPL_Planner.hpp:</div>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Class for planner for 2D and 3D planning. <a href="class_o_m_p_l___planner.html#details">More...</a><br /></td></tr>
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|
||||
<div class="textblock"><p>Path planning (without differential constraints) using OMPL with Octomap to represent workspace and to validate if configurations are collision-free. </p>
|
||||
<dl class="section author"><dt>Author</dt><dd>Harlé Antoine (<a href="#" onclick="location.href='mai'+'lto:'+'ant'+'oi'+'ne.'+'h@'+'fly'+'la'+'b.i'+'o'; return false;">antoi<span style="display: none;">.nosp@m.</span>ne.h<span style="display: none;">.nosp@m.</span>@flyl<span style="display: none;">.nosp@m.</span>ab.i<span style="display: none;">.nosp@m.</span>o</a>) </dd></dl>
|
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<dl class="section date"><dt>Date</dt><dd>7/2017 - 8/2017 </dd></dl>
|
||||
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<p>Definition in file <a class="el" href="_o_m_p_l___planner_8hpp_source.html">OMPL_Planner.hpp</a>.</p>
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<p>Check if a given configuration is collision-free. The workspace is represented by an octomap.
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>Check if a given configuration is collision-free. The workspace is represented by an octomap. </p>
|
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<dl class="section author"><dt>Author</dt><dd>Harlé Antoine </dd></dl>
|
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<dl class="section date"><dt>Date</dt><dd>7/2017 - 8/2017 </dd></dl>
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<p>Definition in file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
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|
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|
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|
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<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">▼</span><span class="icona"><span class="icon">N</span></span><b>controller_quadrotor</b></td><td class="desc"></td></tr>
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<tr id="row_0_0_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcontroller__quadrotor_1_1_controller.html" target="_self">Controller</a></td><td class="desc"></td></tr>
|
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|
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<tr id="row_1_0_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcontroller__turtlebot_1_1_controller.html" target="_self">Controller</a></td><td class="desc"></td></tr>
|
||||
<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_checking___box.html" target="_self">Checking_Box</a></td><td class="desc">Collision Mask : virtual representation of the drone as a box with x,y,z length </td></tr>
|
||||
<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_laser_scan_to_point_cloud.html" target="_self">LaserScanToPointCloud</a></td><td class="desc">CLASS DEFINITION =========================================================== </td></tr>
|
||||
<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_o_m_p_l___planner.html" target="_self">OMPL_Planner</a></td><td class="desc">Class for planner for 2D and 3D planning </td></tr>
|
||||
<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_r_o_s___o_m_p_l___planner.html" target="_self">ROS_OMPL_Planner</a></td><td class="desc">ROS implementation class for <a class="el" href="class_o_m_p_l___planner.html" title="Class for planner for 2D and 3D planning. ">OMPL_Planner</a> </td></tr>
|
||||
<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_state_checker.html" target="_self">StateChecker</a></td><td class="desc">Class for state checking for 2D and 3D planning. Extension of an abstract class used to implement the state validity checker over an octomap (using FCL ?) </td></tr>
|
||||
</table>
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|
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|
||||
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|
||||
<div id="projectbrief">Path planning with OMPL</div>
|
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<p>This is the complete list of members for <a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a>, including all inherited members.</p>
|
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<table class="directory">
|
||||
<tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a3e94f89db54c6b2c302b46ea2140d56b">checkPath</a>() const </td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">findPath</a>(double solving_time)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">getPath</a>() const </td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">getSimpleSetup</a>() const </td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">isValid</a>(std::vector< double > position) const </td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a073db78d9b2b6a2163a469077acf6ff2">OMPL_Planner</a>(int dim)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">setPlanner</a>(const std::string plannerName="RRTstar")</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">setPlanningBounds</a>(const std::vector< double > planning_bounds_x, const std::vector< double > planning_bounds_y, const std::vector< double > planning_bounds_z=std::vector< double >())</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">setPlanningDepth</a>(double depth_limit=1)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">setStartGoal</a>(const std::vector< double > start_state, const std::vector< double > goal_state)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
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<tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">setStateChecker</a>(const ob::StateValidityCheckerPtr state_checker)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0"><td class="entry"><b>setStateChecker</b>(const std::string mapFile, double collision_mask_x, double collision_mask_y, double collision_mask_z=0.2) (defined in <a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a>)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>setStateChecker</b>(octomap::OcTree *octree, double collision_mask_x, double collision_mask_y, double collision_mask_z) (defined in <a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a>)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241">updatePath</a>(octomap::OcTree *octree, double solving_time, const std::vector< double > start_state, const std::vector< double > goal_state)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">updateStateChecker</a>(octomap::OcTree *octree)</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
||||
<tr><td class="entry"><a class="el" href="class_o_m_p_l___planner.html#aa7c140fd681ba96e46b529424571250a">~OMPL_Planner</a>()</td><td class="entry"><a class="el" href="class_o_m_p_l___planner.html">OMPL_Planner</a></td><td class="entry"></td></tr>
|
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476
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|
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<div id="projectname">OMPL Plannification
|
||||
</div>
|
||||
<div id="projectbrief">Path planning with OMPL</div>
|
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<a href="#pub-methods">Public Member Functions</a> |
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<a href="class_o_m_p_l___planner-members.html">List of all members</a> </div>
|
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<div class="headertitle">
|
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<div class="title">OMPL_Planner Class Reference</div> </div>
|
||||
</div><!--header-->
|
||||
<div class="contents">
|
||||
|
||||
<p>Class for planner for 2D and 3D planning.
|
||||
<a href="class_o_m_p_l___planner.html#details">More...</a></p>
|
||||
|
||||
<p><code>#include <<a class="el" href="_o_m_p_l___planner_8hpp_source.html">OMPL_Planner.hpp</a>></code></p>
|
||||
<table class="memberdecls">
|
||||
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
|
||||
Public Member Functions</h2></td></tr>
|
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<tr class="memitem:a073db78d9b2b6a2163a469077acf6ff2"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a073db78d9b2b6a2163a469077acf6ff2">OMPL_Planner</a> (int dim)</td></tr>
|
||||
<tr class="memdesc:a073db78d9b2b6a2163a469077acf6ff2"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a073db78d9b2b6a2163a469077acf6ff2">More...</a><br /></td></tr>
|
||||
<tr class="separator:a073db78d9b2b6a2163a469077acf6ff2"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:abc9a0e581d563eb772dfb270ad67e2e5"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#abc9a0e581d563eb772dfb270ad67e2e5">setPlanningBounds</a> (const std::vector< double > planning_bounds_x, const std::vector< double > planning_bounds_y, const std::vector< double > planning_bounds_z=std::vector< double >())</td></tr>
|
||||
<tr class="memdesc:abc9a0e581d563eb772dfb270ad67e2e5"><td class="mdescLeft"> </td><td class="mdescRight">Set the bounds of the planner workspace. <a href="#abc9a0e581d563eb772dfb270ad67e2e5">More...</a><br /></td></tr>
|
||||
<tr class="separator:abc9a0e581d563eb772dfb270ad67e2e5"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a525b72362e333214b7eda9e12420c2fc"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a525b72362e333214b7eda9e12420c2fc">setPlanningDepth</a> (double depth_limit=1)</td></tr>
|
||||
<tr class="memdesc:a525b72362e333214b7eda9e12420c2fc"><td class="mdescLeft"> </td><td class="mdescRight">Set the planning depth. <a href="#a525b72362e333214b7eda9e12420c2fc">More...</a><br /></td></tr>
|
||||
<tr class="separator:a525b72362e333214b7eda9e12420c2fc"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:aed4793b4bf19889efc4af7033f7ab6da"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#aed4793b4bf19889efc4af7033f7ab6da">setPlanner</a> (const std::string plannerName="RRTstar")</td></tr>
|
||||
<tr class="memdesc:aed4793b4bf19889efc4af7033f7ab6da"><td class="mdescLeft"> </td><td class="mdescRight">Set the planning algorithm used to solve the problem. <a href="#aed4793b4bf19889efc4af7033f7ab6da">More...</a><br /></td></tr>
|
||||
<tr class="separator:aed4793b4bf19889efc4af7033f7ab6da"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:ae49620c4f0c422025b97ad02c44cd66e"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#ae49620c4f0c422025b97ad02c44cd66e">setStateChecker</a> (const ob::StateValidityCheckerPtr state_checker)</td></tr>
|
||||
<tr class="memdesc:ae49620c4f0c422025b97ad02c44cd66e"><td class="mdescLeft"> </td><td class="mdescRight">Set the state checker. <a href="#ae49620c4f0c422025b97ad02c44cd66e">More...</a><br /></td></tr>
|
||||
<tr class="separator:ae49620c4f0c422025b97ad02c44cd66e"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a00df10d489ad2aa6d6b525934253677b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a00df10d489ad2aa6d6b525934253677b"></a>
|
||||
void </td><td class="memItemRight" valign="bottom"><b>setStateChecker</b> (const std::string mapFile, double collision_mask_x, double collision_mask_y, double collision_mask_z=0.2)</td></tr>
|
||||
<tr class="separator:a00df10d489ad2aa6d6b525934253677b"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a9d91a57a3d0f8f735e89c9d397b1df6b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9d91a57a3d0f8f735e89c9d397b1df6b"></a>
|
||||
void </td><td class="memItemRight" valign="bottom"><b>setStateChecker</b> (octomap::OcTree *octree, double collision_mask_x, double collision_mask_y, double collision_mask_z)</td></tr>
|
||||
<tr class="separator:a9d91a57a3d0f8f735e89c9d397b1df6b"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a9f5bb21207dfb002de93d5e83262de9b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a9f5bb21207dfb002de93d5e83262de9b">updateStateChecker</a> (octomap::OcTree *octree)</td></tr>
|
||||
<tr class="memdesc:a9f5bb21207dfb002de93d5e83262de9b"><td class="mdescLeft"> </td><td class="mdescRight">Update the state checker. <a href="#a9f5bb21207dfb002de93d5e83262de9b">More...</a><br /></td></tr>
|
||||
<tr class="separator:a9f5bb21207dfb002de93d5e83262de9b"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:aa83cc92dda2e0ee24ff9f79768ed1887"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#aa83cc92dda2e0ee24ff9f79768ed1887">setStartGoal</a> (const std::vector< double > start_state, const std::vector< double > goal_state)</td></tr>
|
||||
<tr class="memdesc:aa83cc92dda2e0ee24ff9f79768ed1887"><td class="mdescLeft"> </td><td class="mdescRight">Set the planning objectives. <a href="#aa83cc92dda2e0ee24ff9f79768ed1887">More...</a><br /></td></tr>
|
||||
<tr class="separator:aa83cc92dda2e0ee24ff9f79768ed1887"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a15bf824bec358cd2c84274bc46f92c69"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a15bf824bec358cd2c84274bc46f92c69">findPath</a> (double solving_time)</td></tr>
|
||||
<tr class="memdesc:a15bf824bec358cd2c84274bc46f92c69"><td class="mdescLeft"> </td><td class="mdescRight">Solve the planning problem. <a href="#a15bf824bec358cd2c84274bc46f92c69">More...</a><br /></td></tr>
|
||||
<tr class="separator:a15bf824bec358cd2c84274bc46f92c69"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a31423022af2477a1ac5f072bdb3f835f"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a31423022af2477a1ac5f072bdb3f835f">isValid</a> (std::vector< double > position) const </td></tr>
|
||||
<tr class="memdesc:a31423022af2477a1ac5f072bdb3f835f"><td class="mdescLeft"> </td><td class="mdescRight">Check if position is collision-free. <a href="#a31423022af2477a1ac5f072bdb3f835f">More...</a><br /></td></tr>
|
||||
<tr class="separator:a31423022af2477a1ac5f072bdb3f835f"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a3e94f89db54c6b2c302b46ea2140d56b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3e94f89db54c6b2c302b46ea2140d56b"></a>
|
||||
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a3e94f89db54c6b2c302b46ea2140d56b">checkPath</a> () const </td></tr>
|
||||
<tr class="memdesc:a3e94f89db54c6b2c302b46ea2140d56b"><td class="mdescLeft"> </td><td class="mdescRight">Check if the path is valid. <br /></td></tr>
|
||||
<tr class="separator:a3e94f89db54c6b2c302b46ea2140d56b"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a056946d604333d039fd415b18af12241"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a056946d604333d039fd415b18af12241">updatePath</a> (octomap::OcTree *octree, double solving_time, const std::vector< double > start_state, const std::vector< double > goal_state)</td></tr>
|
||||
<tr class="memdesc:a056946d604333d039fd415b18af12241"><td class="mdescLeft"> </td><td class="mdescRight">Update the path. <a href="#a056946d604333d039fd415b18af12241">More...</a><br /></td></tr>
|
||||
<tr class="separator:a056946d604333d039fd415b18af12241"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:acff06e417ae511b0a50828b2ea1f184b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acff06e417ae511b0a50828b2ea1f184b"></a>
|
||||
og::PathGeometric </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#acff06e417ae511b0a50828b2ea1f184b">getPath</a> () const </td></tr>
|
||||
<tr class="memdesc:acff06e417ae511b0a50828b2ea1f184b"><td class="mdescLeft"> </td><td class="mdescRight">Return the path found by the planner. <br /></td></tr>
|
||||
<tr class="separator:acff06e417ae511b0a50828b2ea1f184b"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a643d16f415b3658033f724b5a0fa28c5"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a643d16f415b3658033f724b5a0fa28c5"></a>
|
||||
og::SimpleSetup </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#a643d16f415b3658033f724b5a0fa28c5">getSimpleSetup</a> () const </td></tr>
|
||||
<tr class="memdesc:a643d16f415b3658033f724b5a0fa28c5"><td class="mdescLeft"> </td><td class="mdescRight">Return the OMPL object containing most of the information of the planning problem. <br /></td></tr>
|
||||
<tr class="separator:a643d16f415b3658033f724b5a0fa28c5"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:aa7c140fd681ba96e46b529424571250a"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_m_p_l___planner.html#aa7c140fd681ba96e46b529424571250a">~OMPL_Planner</a> ()</td></tr>
|
||||
<tr class="memdesc:aa7c140fd681ba96e46b529424571250a"><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#aa7c140fd681ba96e46b529424571250a">More...</a><br /></td></tr>
|
||||
<tr class="separator:aa7c140fd681ba96e46b529424571250a"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
</table>
|
||||
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
||||
<div class="textblock"><p>Class for planner for 2D and 3D planning. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8hpp_source.html#l00035">35</a> of file <a class="el" href="_o_m_p_l___planner_8hpp_source.html">OMPL_Planner.hpp</a>.</p>
|
||||
</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
|
||||
<a class="anchor" id="a073db78d9b2b6a2163a469077acf6ff2"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">OMPL_Planner::OMPL_Planner </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>dim</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Constructor. </p>
|
||||
<p>Create space and simple_setup instance for OMPL planning. Set planning dimension. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00011">11</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="aa7c140fd681ba96e46b529424571250a"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">OMPL_Planner::~OMPL_Planner </td>
|
||||
<td>(</td>
|
||||
<td class="paramname"></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Destructor. </p>
|
||||
<p>Free dynamicly allowed data. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00020">20</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<h2 class="groupheader">Member Function Documentation</h2>
|
||||
<a class="anchor" id="a15bf824bec358cd2c84274bc46f92c69"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">bool OMPL_Planner::findPath </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">double </td>
|
||||
<td class="paramname"><em>solving_time</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Solve the planning problem. </p>
|
||||
<p>Find a path from the start state to the goal state in the map given to the state checker. The planner will run during solving_time and optimize the solution during this time. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00139">139</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="a31423022af2477a1ac5f072bdb3f835f"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">bool OMPL_Planner::isValid </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">std::vector< double > </td>
|
||||
<td class="paramname"><em>position</em></td><td>)</td>
|
||||
<td> const</td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Check if position is collision-free. </p>
|
||||
<p>Checking is done on the last map given to the state checker. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00158">158</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="aed4793b4bf19889efc4af7033f7ab6da"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void OMPL_Planner::setPlanner </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">const std::string </td>
|
||||
<td class="paramname"><em>plannerName</em> = <code>"RRTstar"</code></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Set the planning algorithm used to solve the problem. </p>
|
||||
<p>Planner avalaible : RRTstar, CForest. If no argument provided, RRTstar will be used (reliable planner for most of the situations). Implementation of other planners (except control-based planners) is quite simple. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00056">56</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="abc9a0e581d563eb772dfb270ad67e2e5"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void OMPL_Planner::setPlanningBounds </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">const std::vector< double > </td>
|
||||
<td class="paramname"><em>planning_bounds_x</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">const std::vector< double > </td>
|
||||
<td class="paramname"><em>planning_bounds_y</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">const std::vector< double > </td>
|
||||
<td class="paramname"><em>planning_bounds_z</em> = <code>std::vector<double>()</code> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Set the bounds of the planner workspace. </p>
|
||||
<p>Workspace defined by a box with planning_bounds limits. Optional argument : Planning_bounds_z (used only for 3D planning). </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00031">31</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="a525b72362e333214b7eda9e12420c2fc"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void OMPL_Planner::setPlanningDepth </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">double </td>
|
||||
<td class="paramname"><em>depth_limit</em> = <code>1</code></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Set the planning depth. </p>
|
||||
<p>Set the lowest altitude for states. Represent the planning depth (constant) for 2D planning. Used to prevent unwanted invalid state (Issue with the ground in Octomap). </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00049">49</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="aa83cc92dda2e0ee24ff9f79768ed1887"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void OMPL_Planner::setStartGoal </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">const std::vector< double > </td>
|
||||
<td class="paramname"><em>start_state</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">const std::vector< double > </td>
|
||||
<td class="paramname"><em>goal_state</em> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Set the planning objectives. </p>
|
||||
<p>If the state has an altitude lower than the planning depth, it's altitude will be set to the planning depth. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00116">116</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="ae49620c4f0c422025b97ad02c44cd66e"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void OMPL_Planner::setStateChecker </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">const ob::StateValidityCheckerPtr </td>
|
||||
<td class="paramname"><em>state_checker</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Set the state checker. </p>
|
||||
<p>Check if a given position is collision-free. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00071">71</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="a056946d604333d039fd415b18af12241"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">bool OMPL_Planner::updatePath </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">octomap::OcTree * </td>
|
||||
<td class="paramname"><em>octree</em>, </td>
|
||||
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|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">double </td>
|
||||
<td class="paramname"><em>solving_time</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">const std::vector< double > </td>
|
||||
<td class="paramname"><em>start_state</em>, </td>
|
||||
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|
||||
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|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">const std::vector< double > </td>
|
||||
<td class="paramname"><em>goal_state</em> </td>
|
||||
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|
||||
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|
||||
<td></td>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
<p>Update the path. </p>
|
||||
<p>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. 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. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00194">194</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
<td class="memname">void OMPL_Planner::updateStateChecker </td>
|
||||
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|
||||
<td class="paramtype">octomap::OcTree * </td>
|
||||
<td class="paramname"><em>octree</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
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|
||||
|
||||
<p>Update the state checker. </p>
|
||||
<p>The new map will be used for state checking. If the state checker wasn't set before, there's no update and no warning message will be displayed. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_o_m_p_l___planner_8cpp_source.html#l00109">109</a> of file <a class="el" href="_o_m_p_l___planner_8cpp_source.html">OMPL_Planner.cpp</a>.</p>
|
||||
|
||||
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|
||||
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|
||||
<hr/>The documentation for this class was generated from the following files:<ul>
|
||||
<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/<a class="el" href="_o_m_p_l___planner_8hpp_source.html">OMPL_Planner.hpp</a></li>
|
||||
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
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19
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Normal file
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Normal file
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|
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|
||||
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|
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|
||||
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|
||||
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137
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Normal file
137
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|
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|
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|
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|
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|
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|
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<p>This is the complete list of members for <a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a>, including all inherited members.</p>
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<tr class="even"><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a503ee325bc2843868eec61fff8d1d5d2">findPathToGoal</a>(control_turtlebot::FindPathToGoal::Request &request, control_turtlebot::FindPathToGoal::Response &response)</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
|
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<tr><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#ab75cc72530ff8f223172652cb934628a">getObstacleFlag</a>() const </td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
|
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|
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<tr><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#acd06a9b7686928222e2704051d3f0775">PublishPath</a>(control_turtlebot::FindPathToGoal::Response &response)</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
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<tr class="even"><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f">PublishPath</a>()</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
|
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<tr><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a7e4ac7e895e2a0e22176645442de1da7">ROS_OMPL_Planner</a>(int dimension)</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
|
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|
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<tr><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#afd584a2d54d6cbea457cbd8e19de7000">updatePath</a>()</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
|
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|
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<tr><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a2747d40d02512484ab75d43057c5c717">~ROS_OMPL_Planner</a>()</td><td class="entry"><a class="el" href="class_r_o_s___o_m_p_l___planner.html">ROS_OMPL_Planner</a></td><td class="entry"></td></tr>
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334
Documentation/html/class_r_o_s___o_m_p_l___planner.html
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Documentation/html/class_r_o_s___o_m_p_l___planner.html
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<div class="title">ROS_OMPL_Planner Class Reference</div> </div>
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||||
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<p>ROS implementation class for <a class="el" href="class_o_m_p_l___planner.html" title="Class for planner for 2D and 3D planning. ">OMPL_Planner</a>.
|
||||
<a href="class_r_o_s___o_m_p_l___planner.html#details">More...</a></p>
|
||||
|
||||
<p><code>#include <<a class="el" href="_r_o_s___o_m_p_l___planner_8hpp_source.html">ROS_OMPL_Planner.hpp</a>></code></p>
|
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<table class="memberdecls">
|
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:a7e4ac7e895e2a0e22176645442de1da7"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a7e4ac7e895e2a0e22176645442de1da7">ROS_OMPL_Planner</a> (int dimension)</td></tr>
|
||||
<tr class="memdesc:a7e4ac7e895e2a0e22176645442de1da7"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a7e4ac7e895e2a0e22176645442de1da7">More...</a><br /></td></tr>
|
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<tr class="separator:a7e4ac7e895e2a0e22176645442de1da7"><td class="memSeparator" colspan="2"> </td></tr>
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||||
<tr class="memitem:a0febd90c0cd3ea7d79183c3063da3aaf"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0febd90c0cd3ea7d79183c3063da3aaf"></a>
|
||||
bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a0febd90c0cd3ea7d79183c3063da3aaf">updateMap</a> ()</td></tr>
|
||||
<tr class="memdesc:a0febd90c0cd3ea7d79183c3063da3aaf"><td class="mdescLeft"> </td><td class="mdescRight">Request and load the actual map from the Octomap server. <br /></td></tr>
|
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<tr class="separator:a0febd90c0cd3ea7d79183c3063da3aaf"><td class="memSeparator" colspan="2"> </td></tr>
|
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<tr class="memitem:a1a49128b5320fc0d503bc40ce42fd76c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1a49128b5320fc0d503bc40ce42fd76c"></a>
|
||||
void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a1a49128b5320fc0d503bc40ce42fd76c">odomCallback</a> (const nav_msgs::OdometryPtr &odom_msg)</td></tr>
|
||||
<tr class="memdesc:a1a49128b5320fc0d503bc40ce42fd76c"><td class="mdescLeft"> </td><td class="mdescRight">Callback for getting current vehicle position. <br /></td></tr>
|
||||
<tr class="separator:a1a49128b5320fc0d503bc40ce42fd76c"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a503ee325bc2843868eec61fff8d1d5d2"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a503ee325bc2843868eec61fff8d1d5d2">findPathToGoal</a> (control_turtlebot::FindPathToGoal::Request &request, control_turtlebot::FindPathToGoal::Response &response)</td></tr>
|
||||
<tr class="memdesc:a503ee325bc2843868eec61fff8d1d5d2"><td class="mdescLeft"> </td><td class="mdescRight">Find a path. <a href="#a503ee325bc2843868eec61fff8d1d5d2">More...</a><br /></td></tr>
|
||||
<tr class="separator:a503ee325bc2843868eec61fff8d1d5d2"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a1e6871c0ecdbcb3d803f5d7919e1d83a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a1e6871c0ecdbcb3d803f5d7919e1d83a">visualizeRRT</a> (const og::SimpleSetup simple_setup)</td></tr>
|
||||
<tr class="memdesc:a1e6871c0ecdbcb3d803f5d7919e1d83a"><td class="mdescLeft"> </td><td class="mdescRight">Procedure to visualize the resulting path. <a href="#a1e6871c0ecdbcb3d803f5d7919e1d83a">More...</a><br /></td></tr>
|
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<tr class="separator:a1e6871c0ecdbcb3d803f5d7919e1d83a"><td class="memSeparator" colspan="2"> </td></tr>
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||||
<tr class="memitem:acd06a9b7686928222e2704051d3f0775"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#acd06a9b7686928222e2704051d3f0775">PublishPath</a> (control_turtlebot::FindPathToGoal::Response &response)</td></tr>
|
||||
<tr class="memdesc:acd06a9b7686928222e2704051d3f0775"><td class="mdescLeft"> </td><td class="mdescRight">Publish the resulting path. <a href="#acd06a9b7686928222e2704051d3f0775">More...</a><br /></td></tr>
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<tr class="separator:acd06a9b7686928222e2704051d3f0775"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8386dc843601e522ff92fe3f18bc042f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a8386dc843601e522ff92fe3f18bc042f">PublishPath</a> ()</td></tr>
|
||||
<tr class="memdesc:a8386dc843601e522ff92fe3f18bc042f"><td class="mdescLeft"> </td><td class="mdescRight">Publish the resulting path. <a href="#a8386dc843601e522ff92fe3f18bc042f">More...</a><br /></td></tr>
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<tr class="separator:a8386dc843601e522ff92fe3f18bc042f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab75cc72530ff8f223172652cb934628a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab75cc72530ff8f223172652cb934628a"></a>
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bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#ab75cc72530ff8f223172652cb934628a">getObstacleFlag</a> () const </td></tr>
|
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<tr class="memdesc:ab75cc72530ff8f223172652cb934628a"><td class="mdescLeft"> </td><td class="mdescRight">Return the flag representing the validity of the current path. <br /></td></tr>
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<tr class="separator:ab75cc72530ff8f223172652cb934628a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:afd584a2d54d6cbea457cbd8e19de7000"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#afd584a2d54d6cbea457cbd8e19de7000">updatePath</a> ()</td></tr>
|
||||
<tr class="memdesc:afd584a2d54d6cbea457cbd8e19de7000"><td class="mdescLeft"> </td><td class="mdescRight">Update the path. <a href="#afd584a2d54d6cbea457cbd8e19de7000">More...</a><br /></td></tr>
|
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<tr class="separator:afd584a2d54d6cbea457cbd8e19de7000"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a2747d40d02512484ab75d43057c5c717"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_r_o_s___o_m_p_l___planner.html#a2747d40d02512484ab75d43057c5c717">~ROS_OMPL_Planner</a> ()</td></tr>
|
||||
<tr class="memdesc:a2747d40d02512484ab75d43057c5c717"><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a2747d40d02512484ab75d43057c5c717">More...</a><br /></td></tr>
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</table>
|
||||
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
||||
<div class="textblock"><p>ROS implementation class for <a class="el" href="class_o_m_p_l___planner.html" title="Class for planner for 2D and 3D planning. ">OMPL_Planner</a>. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8hpp_source.html#l00034">34</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8hpp_source.html">ROS_OMPL_Planner.hpp</a>.</p>
|
||||
</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a class="anchor" id="a7e4ac7e895e2a0e22176645442de1da7"></a>
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<td class="memname">ROS_OMPL_Planner::ROS_OMPL_Planner </td>
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||||
<td>(</td>
|
||||
<td class="paramtype">int </td>
|
||||
<td class="paramname"><em>dimension</em></td><td>)</td>
|
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<p>Constructor. </p>
|
||||
<p>Load planning parameters from configuration file. Create the connection with other ROS nodes. Create the <a class="el" href="class_o_m_p_l___planner.html" title="Class for planner for 2D and 3D planning. ">OMPL_Planner</a> instance. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00010">10</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
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<a class="anchor" id="a2747d40d02512484ab75d43057c5c717"></a>
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<td class="memname">ROS_OMPL_Planner::~ROS_OMPL_Planner </td>
|
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<td>(</td>
|
||||
<td class="paramname"></td><td>)</td>
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<td></td>
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||||
<p>Destructor. </p>
|
||||
<p>Free dynamicly allowed data. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00464">464</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
|
||||
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||||
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|
||||
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|
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<h2 class="groupheader">Member Function Documentation</h2>
|
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<a class="anchor" id="a503ee325bc2843868eec61fff8d1d5d2"></a>
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<td class="memname">bool ROS_OMPL_Planner::findPathToGoal </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">control_turtlebot::FindPathToGoal::Request & </td>
|
||||
<td class="paramname"><em>request</em>, </td>
|
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|
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|
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|
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<td></td>
|
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<td class="paramtype">control_turtlebot::FindPathToGoal::Response & </td>
|
||||
<td class="paramname"><em>response</em> </td>
|
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<td>)</td>
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|
||||
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||||
<p>Find a path. </p>
|
||||
<p>Find a path from the current position to the goal request. Update the state checker, check the validity of the start/goal state. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00115">115</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
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<a class="anchor" id="acd06a9b7686928222e2704051d3f0775"></a>
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<td class="memname">void ROS_OMPL_Planner::PublishPath </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">control_turtlebot::FindPathToGoal::Response & </td>
|
||||
<td class="paramname"><em>response</em></td><td>)</td>
|
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<td></td>
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||||
<p>Publish the resulting path. </p>
|
||||
<p>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. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00306">306</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
|
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<a class="anchor" id="a8386dc843601e522ff92fe3f18bc042f"></a>
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<td class="memname">void ROS_OMPL_Planner::PublishPath </td>
|
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<td>(</td>
|
||||
<td class="paramname"></td><td>)</td>
|
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<td></td>
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<p>Publish the resulting path. </p>
|
||||
<p>Publish the path on a topic. Display the path. TOPIC : the first state of the path contains the number of states of the path. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00370">370</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
|
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<td class="memname">bool ROS_OMPL_Planner::updatePath </td>
|
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<td>(</td>
|
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|
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|
||||
<p>Update the path. </p>
|
||||
<p>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. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00435">435</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
|
||||
|
||||
</div>
|
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<a class="anchor" id="a1e6871c0ecdbcb3d803f5d7919e1d83a"></a>
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<td class="memname">void ROS_OMPL_Planner::visualizeRRT </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">const og::SimpleSetup </td>
|
||||
<td class="paramname"><em>simple_setup</em></td><td>)</td>
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||||
<p>Procedure to visualize the resulting path. </p>
|
||||
<p>Visualize resulting path. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html#l00151">151</a> of file <a class="el" href="_r_o_s___o_m_p_l___planner_8cpp_source.html">ROS_OMPL_Planner.cpp</a>.</p>
|
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|
||||
</div>
|
||||
</div>
|
||||
<hr/>The documentation for this class was generated from the following files:<ul>
|
||||
<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/ROS_Implementation/<a class="el" href="_r_o_s___o_m_p_l___planner_8hpp_source.html">ROS_OMPL_Planner.hpp</a></li>
|
||||
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<tr class="even"><td class="entry"><a class="el" href="class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f">~StateChecker</a>()</td><td class="entry"><a class="el" href="class_state_checker.html">StateChecker</a></td><td class="entry"></td></tr>
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271
Documentation/html/class_state_checker.html
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|
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|
||||
|
||||
<p>Class for state checking for 2D and 3D planning. Extension of an abstract class used to implement the state validity checker over an octomap (using FCL ?).
|
||||
<a href="class_state_checker.html#details">More...</a></p>
|
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|
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|
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|
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|
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|
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|
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Public Member Functions</h2></td></tr>
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<tr class="memitem:ab6848e593de676961143a42df192ab7c"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#ab6848e593de676961143a42df192ab7c">StateChecker</a> (const ob::SpaceInformationPtr &si)</td></tr>
|
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<tr class="memdesc:ab6848e593de676961143a42df192ab7c"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#ab6848e593de676961143a42df192ab7c">More...</a><br /></td></tr>
|
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void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">loadMap</a> (const std::string mapFile)</td></tr>
|
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<tr class="memdesc:aa31f7a73b601d4c16a81ea256ab482ea"><td class="mdescLeft"> </td><td class="mdescRight">Load the octomap where the states are checked. <br /></td></tr>
|
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<tr class="separator:aa31f7a73b601d4c16a81ea256ab482ea"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aca03069f9a0bd28ba7a2bf299cb9d3e6"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aca03069f9a0bd28ba7a2bf299cb9d3e6"></a>
|
||||
void </td><td class="memItemRight" valign="bottom"><b>loadMap</b> (octomap::OcTree *octree)</td></tr>
|
||||
<tr class="separator:aca03069f9a0bd28ba7a2bf299cb9d3e6"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a7fc1bee2971992901eed0517a8fffaa8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7fc1bee2971992901eed0517a8fffaa8"></a>
|
||||
void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8">setCollisionMask</a> (double x, double y, double z=0.2)</td></tr>
|
||||
<tr class="memdesc:a7fc1bee2971992901eed0517a8fffaa8"><td class="mdescLeft"> </td><td class="mdescRight">Set the area around every state considered for state checking. <br /></td></tr>
|
||||
<tr class="separator:a7fc1bee2971992901eed0517a8fffaa8"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:af9db3b2571cf0294c07e81dd2b07eca9"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">setDepthLimit</a> (double depth_limit)</td></tr>
|
||||
<tr class="memdesc:af9db3b2571cf0294c07e81dd2b07eca9"><td class="mdescLeft"> </td><td class="mdescRight">Set the depth limit (constant for 2D checking) <a href="#af9db3b2571cf0294c07e81dd2b07eca9">More...</a><br /></td></tr>
|
||||
<tr class="separator:af9db3b2571cf0294c07e81dd2b07eca9"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:aa7454eae37b6fea9743cd26ddee94238"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238">isValid</a> (const ob::State *state) const </td></tr>
|
||||
<tr class="memdesc:aa7454eae37b6fea9743cd26ddee94238"><td class="mdescLeft"> </td><td class="mdescRight">State validator. <a href="#aa7454eae37b6fea9743cd26ddee94238">More...</a><br /></td></tr>
|
||||
<tr class="separator:aa7454eae37b6fea9743cd26ddee94238"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:abad123b62939fe4e3130cd9a3d0d051f"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f">~StateChecker</a> ()</td></tr>
|
||||
<tr class="memdesc:abad123b62939fe4e3130cd9a3d0d051f"><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#abad123b62939fe4e3130cd9a3d0d051f">More...</a><br /></td></tr>
|
||||
<tr class="separator:abad123b62939fe4e3130cd9a3d0d051f"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
</table>
|
||||
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
||||
<div class="textblock"><p>Class for state checking for 2D and 3D planning. Extension of an abstract class used to implement the state validity checker over an octomap (using FCL ?). </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_state_checker_8hpp_source.html#l00041">41</a> of file <a class="el" href="_state_checker_8hpp_source.html">StateChecker.hpp</a>.</p>
|
||||
</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
|
||||
<a class="anchor" id="ab6848e593de676961143a42df192ab7c"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">StateChecker::StateChecker </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">const ob::SpaceInformationPtr & </td>
|
||||
<td class="paramname"><em>si</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Constructor. </p>
|
||||
<p>Call the StateValidityChecker constructor from OMPL library and set checking dimension. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_state_checker_8cpp_source.html#l00011">11</a> of file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="abad123b62939fe4e3130cd9a3d0d051f"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">StateChecker::~StateChecker </td>
|
||||
<td>(</td>
|
||||
<td class="paramname"></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Destructor. </p>
|
||||
<p>Free dynamicly allowed data. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_state_checker_8cpp_source.html#l00016">16</a> of file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<h2 class="groupheader">Member Function Documentation</h2>
|
||||
<a class="anchor" id="aa7454eae37b6fea9743cd26ddee94238"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="mlabels">
|
||||
<tr>
|
||||
<td class="mlabels-left">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">bool StateChecker::isValid </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">const ob::State * </td>
|
||||
<td class="paramname"><em>state</em></td><td>)</td>
|
||||
<td> const</td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
<td class="mlabels-right">
|
||||
<span class="mlabels"><span class="mlabel">virtual</span></span> </td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>State validator. </p>
|
||||
<p>Function that verifies if the given state is valid (i.e. is free of collision) using FCL. </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_state_checker_8cpp_source.html#l00064">64</a> of file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a class="anchor" id="af9db3b2571cf0294c07e81dd2b07eca9"></a>
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">void StateChecker::setDepthLimit </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">double </td>
|
||||
<td class="paramname"><em>depth_limit</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Set the depth limit (constant for 2D checking) </p>
|
||||
<p>Set the lowest altitude for checking (constant depth for 2D checking). Used to prevent unwanted invalid state (Issue with the ground in Octomap) </p>
|
||||
|
||||
<p>Definition at line <a class="el" href="_state_checker_8cpp_source.html#l00059">59</a> of file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<hr/>The documentation for this class was generated from the following files:<ul>
|
||||
<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/<a class="el" href="_state_checker_8hpp_source.html">StateChecker.hpp</a></li>
|
||||
<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/<a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a></li>
|
||||
</ul>
|
||||
</div><!-- contents -->
|
||||
</div><!-- doc-content -->
|
||||
<!-- start footer part -->
|
||||
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
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<ul>
|
||||
<li class="navelem"><a class="el" href="class_state_checker.html">StateChecker</a></li>
|
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<li class="footer">Generated by
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<a href="http://www.doxygen.org/index.html">
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
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</html>
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||||
10
Documentation/html/class_state_checker.js
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10
Documentation/html/class_state_checker.js
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|
|
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|
|||
var class_state_checker =
|
||||
[
|
||||
[ "StateChecker", "class_state_checker.html#ab6848e593de676961143a42df192ab7c", null ],
|
||||
[ "~StateChecker", "class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f", null ],
|
||||
[ "isValid", "class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238", null ],
|
||||
[ "loadMap", "class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea", null ],
|
||||
[ "loadMap", "class_state_checker.html#aca03069f9a0bd28ba7a2bf299cb9d3e6", null ],
|
||||
[ "setCollisionMask", "class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8", null ],
|
||||
[ "setDepthLimit", "class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9", null ]
|
||||
];
|
||||
2
Documentation/html/class_state_checker__coll__graph.map
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2
Documentation/html/class_state_checker__coll__graph.map
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|
|
@ -0,0 +1,2 @@
|
|||
<map id="StateChecker" name="StateChecker">
|
||||
</map>
|
||||
1
Documentation/html/class_state_checker__coll__graph.md5
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1
Documentation/html/class_state_checker__coll__graph.md5
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|
|||
deadcb92772f4a3e5b96e2c8f22eb508
|
||||
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|
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|
|
@ -0,0 +1,2 @@
|
|||
<map id="StateChecker" name="StateChecker">
|
||||
</map>
|
||||
|
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@ -0,0 +1 @@
|
|||
deadcb92772f4a3e5b96e2c8f22eb508
|
||||
BIN
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml">
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<head>
|
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<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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<meta http-equiv="X-UA-Compatible" content="IE=9"/>
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<meta name="generator" content="Doxygen 1.8.11"/>
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<title>OMPL Plannification: Member List</title>
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<link href="tabs.css" rel="stylesheet" type="text/css"/>
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<script type="text/javascript" src="jquery.js"></script>
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<link href="navtree.css" rel="stylesheet" type="text/css"/>
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<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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<tbody>
|
||||
<tr style="height: 56px;">
|
||||
<td id="projectlogo"><img alt="Logo" src="flylab.png"/></td>
|
||||
<td id="projectalign" style="padding-left: 0.5em;">
|
||||
<div id="projectname">OMPL Plannification
|
||||
</div>
|
||||
<div id="projectbrief">Path planning with OMPL</div>
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
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<div class="title">controller_quadrotor.Controller Member List</div> </div>
|
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</div><!--header-->
|
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<div class="contents">
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<p>This is the complete list of members for <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>, including all inherited members.</p>
|
||||
<table class="directory">
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>__init__</b>(self) (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0"><td class="entry"><b>calculateControlInput</b>(self, req) (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>control_input_pub_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0"><td class="entry"><b>current_orientation_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>current_position_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0"><td class="entry"><b>desired_orientation_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>desired_position_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0"><td class="entry"><b>find_path_to_goal_serv_</b> (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
|
||||
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>odomCallback</b>(self, odometry_msg) (defined in <a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__quadrotor_1_1_controller.html">controller_quadrotor.Controller</a></td><td class="entry"></td></tr>
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<p>Definition at line <a class="el" href="controller__quadrotor_8py_source.html#l00017">17</a> of file <a class="el" href="controller__quadrotor_8py_source.html">controller_quadrotor.py</a>.</p>
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<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>odomCallback</b>(self, odometry_msg) (defined in <a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a>)</td><td class="entry"><a class="el" href="classcontroller__turtlebot_1_1_controller.html">controller_turtlebot.Controller</a></td><td class="entry"></td></tr>
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 </td><td class="memItemRight" valign="bottom"><b>odometry_sub_</b></td></tr>
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 </td><td class="memItemRight" valign="bottom"><b>serv_</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
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|
||||
<p>Definition at line <a class="el" href="controller__turtlebot_8py_source.html#l00017">17</a> of file <a class="el" href="controller__turtlebot_8py_source.html">controller_turtlebot.py</a>.</p>
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</div><hr/>The documentation for this class was generated from the following file:<ul>
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<li class="navelem"><b>controller_turtlebot</b></li><li class="navelem"><a class="el" href="classcontroller__turtlebot_1_1_controller.html">Controller</a></li>
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<h3>HelloWorld → OMPL_Planner Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in control_turtlebot/src/OMPL_Planning/HelloWorld</th><th class="dirtab">Includes file in control_turtlebot/src/OMPL_Planning/OMPL_Planner</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="_hello___world_8cpp.html">Hello_World.cpp</a></td><td class="dirtab"><a class="el" href="_o_m_p_l___planner_8hpp.html">OMPL_Planner.hpp</a></td></tr></table></div><!-- contents -->
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<div class="dynheader">
|
||||
Directory dependency graph for control_turtlebot:</div>
|
||||
<div class="dyncontent">
|
||||
<div class="center"><img src="dir_2b04689da8f92abcb133442f492c8f6b_dep.png" border="0" usemap="#dir__2b04689da8f92abcb133442f492c8f6b__dep" alt="/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot"/></div>
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||||
</map>
|
||||
</div>
|
||||
<table class="memberdecls">
|
||||
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="subdirs"></a>
|
||||
Directories</h2></td></tr>
|
||||
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|
||||
</div><!-- contents -->
|
||||
</div><!-- doc-content -->
|
||||
<!-- start footer part -->
|
||||
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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||||
<ul>
|
||||
<li class="navelem"><a class="el" href="dir_a2ed51f7c7095589dc0c78a28547d1d4.html">Source Files</a></li><li class="navelem"><a class="el" href="dir_50758af9fa44b143c39a433e879132a5.html">mapping_planning_tutorial</a></li><li class="navelem"><a class="el" href="dir_2b04689da8f92abcb133442f492c8f6b.html">control_turtlebot</a></li>
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<li class="footer">Generated by
|
||||
<a href="http://www.doxygen.org/index.html">
|
||||
<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
|
||||
</ul>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
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