PathPlanning Class Reference

#include <path_planning.h>

Collaboration diagram for PathPlanning:

Public Member Functions
	PathPlanning (void)
	Default constructor. More...
	~PathPlanning (void)
bool	pathPlanningCallback (rapp_platform_ros_communications::PathPlanningRosSrv::Request &req, rapp_platform_ros_communications::PathPlanningRosSrv::Response &res)
	Determines next planning seqence (which global_planner and map_server should be used) More...
bool	uploadMapCallback (rapp_platform_ros_communications::MapServerUploadMapRosSrv::Request &req, rapp_platform_ros_communications::MapServerUploadMapRosSrv::Response &res)
	Upload map to RAPP Platform. More...

Private Attributes
std::vector< pid_t >	GP_pIDs
const char *	homedir
std::vector< pid_t >	MS_pIDs
std::vector < geometry_msgs::PoseStamped >	new_path
ros::NodeHandle	nh_
PathPlanner	path_planner_
ros::ServiceServer	pathPlanningService_
int	pathPlanningThreads_
std::vector< ros::ServiceServer >	pathPlanningThreadServices_
std::string	pathPlanningTopic_
double	pose_dist_
pid_t	TP_pID
ros::ServiceServer	uploadMapService_
std::string	uploadMapTopic_

Detailed Description

Definition at line 23 of file path_planning.h.

Constructor & Destructor Documentation

PathPlanning::PathPlanning

(

void

)

Default constructor.

Definition at line 181 of file path_planning.cpp.

PathPlanning::~PathPlanning

(

void

)

Definition at line 31 of file path_planning.cpp.

Member Function Documentation

bool PathPlanning::pathPlanningCallback	(	rapp_platform_ros_communications::PathPlanningRosSrv::Request &	req,
		rapp_platform_ros_communications::PathPlanningRosSrv::Response &	res
	)

Determines next planning seqence (which global_planner and map_server should be used)

Parameters

[navfn::MakeNavPlanRequest]

&req: [std::string] req.user_name - Determine user name - owner of the environment map [std::string] req.map_name - Contains path to the desired map [std::string] req.robot_type - Contains type of the robot. It is required to determine it's parameters (footprint etc.) [std::string] req.algorithm - Contains path planning algorithm name [geometry_msgs/PoseStamped] req.start - Contains start pose of the robot [geometry_msgs/PoseStamped] req.goal - Contains goal pose of the robot

[navfn::MakeNavPlanResponse]

&res: [uint8] res.plan_found: 0 : path cannot be planned. 1 : path found 2 : wrong map name 3 : wrong robot type 4 : wrong algorithm [std::string] res.error_message : error explenation [geometry_msgs/PoseStamped[]] res.path : if plan_found is true, this is an array of waypoints from start to goal, where the first one equals start and the last one equals goal vector of PoseStamped objects

Definition at line 302 of file path_planning.cpp.

bool PathPlanning::uploadMapCallback	(	rapp_platform_ros_communications::MapServerUploadMapRosSrv::Request &	req,
		rapp_platform_ros_communications::MapServerUploadMapRosSrv::Response &	res
	)

Upload map to RAPP Platform.

Parameters

&req	[std::string] user_name, [std::string] map_name, [float32] resolution, [float32[]] origin, int16 negate, [float32] occupied_thresh, [float32] free_thresh, [uint32] file_size, [char[]] data,
&res	[byte] status ,

Returns

[bool] true-> success, false-> failure.

Definition at line 242 of file path_planning.cpp.

Member Data Documentation

std::vector<pid_t> PathPlanning::GP_pIDs

private

Definition at line 74 of file path_planning.h.

const char* PathPlanning::homedir

private

Definition at line 69 of file path_planning.h.

std::vector<pid_t> PathPlanning::MS_pIDs

private

Definition at line 75 of file path_planning.h.

std::vector<geometry_msgs::PoseStamped> PathPlanning::new_path

private

Definition at line 82 of file path_planning.h.

ros::NodeHandle PathPlanning::nh_

private

Definition at line 67 of file path_planning.h.

PathPlanner PathPlanning::path_planner_

private

Definition at line 83 of file path_planning.h.

ros::ServiceServer PathPlanning::pathPlanningService_

private

Definition at line 71 of file path_planning.h.

int PathPlanning::pathPlanningThreads_

private

Definition at line 80 of file path_planning.h.

std::vector<ros::ServiceServer> PathPlanning::pathPlanningThreadServices_

private

Definition at line 73 of file path_planning.h.

std::string PathPlanning::pathPlanningTopic_

private

Definition at line 78 of file path_planning.h.

double PathPlanning::pose_dist_

private

Definition at line 81 of file path_planning.h.

pid_t PathPlanning::TP_pID

private

Definition at line 76 of file path_planning.h.

ros::ServiceServer PathPlanning::uploadMapService_

private

Definition at line 72 of file path_planning.h.

std::string PathPlanning::uploadMapTopic_

private

Definition at line 79 of file path_planning.h.

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

• /home/travis/rapp_temp/rapp-platform/rapp_path_planning/rapp_path_planning/include/path_planning/path_planning.h
• /home/travis/rapp_temp/rapp-platform/rapp_path_planning/rapp_path_planning/src/path_planning.cpp