A class for tracing and visualizing the path generated by the Planner. More...

#include <path.h>

Public Member Functions
	Path (bool smoothed=false)
	The default constructor initializing the path object and setting publishers for the same.

void	updatePath (std::vector< Node3D > nodePath)
	Given a node pointer the path to the root node will be traced recursively. More...

void	addSegment (const Node3D &node)
	Adds a segment to the path. More...

void	addNode (const Node3D &node, int i)
	Adds a node to the path. More...

void	addVehicle (const Node3D &node, int i)
	Adds a vehicle shape to the path. More...

void	clear ()
	Clears the path.

void	publishPath ()
	Publishes the path.

void	publishPathNodes ()
	Publishes the nodes of the path.

void	publishPathVehicles ()
	Publishes the vehicle along the path.

Private Attributes
ros::NodeHandle	n
	A handle to the ROS node.

ros::Publisher	pubPath
	Publisher for the path as a spline.

ros::Publisher	pubPathNodes
	Publisher for the nodes on the path.

ros::Publisher	pubPathVehicles
	Publisher for the vehicle along the path.

nav_msgs::Path	path
	Path data structure for visualization.

visualization_msgs::MarkerArray	pathNodes
	Nodes data structure for visualization.

visualization_msgs::MarkerArray	pathVehicles
	Vehicle data structure for visualization.

bool	smoothed = false
	Value that indicates that the path is smoothed/post processed.

Detailed Description

A class for tracing and visualizing the path generated by the Planner.

Member Function Documentation

Adds a node to the path.

Parameters

node	a 3D node
i	a parameter for counting the number of nodes

void Path::addSegment ( const Node3D & node )

Adds a segment to the path.

Parameters

node a 3D node

Adds a vehicle shape to the path.

Parameters

node	a 3D node
i	a parameter for counting the number of nodes

void Path::updatePath ( std::vector< Node3D > nodePath )

Given a node pointer the path to the root node will be traced recursively.

Parameters

node	a 3D node, usually the goal node
i	a parameter for counting the number of nodes

Given a node pointer the path to the root node will be traced recursively

Parameters

node	a 3D node, usually the goal node
i	a parameter for counting the number of nodes

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