HybridAStar::Planner Class Reference

A class that creates the interface for the hybrid A* algorithm. More...

#include <planner.h>

Public Member Functions
	Planner ()
	The default constructor.
void	initializeLookups ()
	Initializes the collision as well as heuristic lookup table. More...
void	setMap (const nav_msgs::OccupancyGrid::Ptr map)
	Sets the map e.g. through a callback from a subscriber listening to map updates. More...
void	setStart (const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &start)
	setStart More...
void	setGoal (const geometry_msgs::PoseStamped::ConstPtr &goal)
	setGoal More...
void	plan ()
	The central function entry point making the necessary preparations to start the planning.

Private Attributes
ros::NodeHandle	n
	The node handle.
ros::Publisher	pubStart
	A publisher publishing the start position for RViz.
ros::Subscriber	subMap
	A subscriber for receiving map updates.
ros::Subscriber	subGoal
	A subscriber for receiving goal updates.
ros::Subscriber	subStart
	A subscriber for receiving start updates.
tf::TransformListener	listener
	A listener that awaits transforms.
tf::StampedTransform	transform
	A transform for moving start positions.
Path	path
	The path produced by the hybrid A* algorithm.
Smoother	smoother
	The smoother used for optimizing the path.
Path	smoothedPath = Path(true)
	The path smoothed and ready for the controller.
Visualize	visualization
	The visualization used for search visualization.
CollisionDetection	configurationSpace
	The collission detection for testing specific configurations.
DynamicVoronoi	voronoiDiagram
	The voronoi diagram.
nav_msgs::OccupancyGrid::Ptr	grid
	A pointer to the grid the planner runs on.
geometry_msgs::PoseWithCovarianceStamped	start
	The start pose set through RViz.
geometry_msgs::PoseStamped	goal
	The goal pose set through RViz.
bool	validStart = false
	Flags for allowing the planner to plan.
bool	validGoal = false
	Flags for allowing the planner to plan.
Constants::config	collisionLookup [Constants::headings *Constants::positions]
	A lookup table for configurations of the vehicle and their spatial occupancy enumeration.
float *	dubinsLookup = new float [Constants::headings * Constants::headings * Constants::dubinsWidth * Constants::dubinsWidth]
	A lookup of analytical solutions (Dubin's paths)

Detailed Description

A class that creates the interface for the hybrid A* algorithm.

Member Function Documentation

void Planner::initializeLookups

(

)

Initializes the collision as well as heuristic lookup table.

Todo:

probably removed

void Planner::setGoal

(

const geometry_msgs::PoseStamped::ConstPtr &

goal

)

setGoal

Parameters

goal	the goal pose

void Planner::setMap

(

const nav_msgs::OccupancyGrid::Ptr

map

)

Sets the map e.g. through a callback from a subscriber listening to map updates.

Parameters

map	the map or occupancy grid

void Planner::setStart

(

const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &

start

)

setStart

Parameters

start

the start pose

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

• include/planner.h
• src/planner.cpp