Planner - ROS wrapper for the Reeds-Shepp state space of OMPL. More...

#include <reeds_shepp_planner.h>

Public Types
enum	RearSteeringMode { none, counter, crab, hybrid }
	steering mode enum More...

enum	StateCheckingMode { center, footprint }
	state checking mode enum More...

Public Member Functions
double	getBX ()

double	getBY ()

double	getMaxPlanningDuration ()

double	getMinTurningRadius ()

void	initialize (std::string name, costmap_2d::Costmap2DROS costmapROS, tf::TransformListener tfListener)
	Initializes the planner. More...

bool	planPath (const geometry_msgs::PoseStamped &startPose, const geometry_msgs::PoseStamped &goalPose, std::vector< geometry_msgs::PoseStamped > &path)
	Plans a Reeds-Shepp path between the start and end poses. More...

int	planPathSkipFailures (const std::vector< geometry_msgs::PoseStamped > &path, std::vector< geometry_msgs::PoseStamped > &newPath)
	Plans a series of Reeds-Shepp paths that connect the path poses. More...

int	planPathUntilFailure (const std::vector< geometry_msgs::PoseStamped > &path, std::vector< geometry_msgs::PoseStamped > &newPath)
	Plans a series of Reeds-Shepp paths that connect the path poses. More...

int	planRecedingPath (const std::vector< geometry_msgs::PoseStamped > &path, std::vector< geometry_msgs::PoseStamped > &newPath)
	Plans a Reeds-Shepp path between the start pose and a receding end pose. More...

void	reconfigure (RSBandPlannerConfig &config)
	Reconfigures the parameters of the planner. More...

	ReedsSheppPlanner (std::string name, costmap_2d::Costmap2DROS costmapROS, tf::TransformListener tfListener)
	Constructor. More...

void	setBoundaries (double bx, double by)

void	setMaxPlanningDuration (double tmax)

void	setMinTurningRadius (double rho)

	~ReedsSheppPlanner ()
	Destructor. More...

Private Member Functions
bool	isStateValid (const ompl::base::SpaceInformation si, const ompl::base::State state)
	Checks whether a state/pose is valid. More...

void	pose2state (const geometry_msgs::PoseStamped &pose, ompl::base::State *state)
	Converts a pose msg to an ompl state. More...

void	state2pose (const ompl::base::State *state, geometry_msgs::PoseStamped &pose)
	Converts an ompl state to a pose msg. More...

void	transform (const geometry_msgs::PoseStamped &poseIn, geometry_msgs::PoseStamped &poseOut, std::string newFrameID)
	Transforms the given pose to the target reference frame. More...

void	transform (const tf::Stamped< tf::Pose > &tfIn, tf::Stamped< tf::Pose > &tfOut, std::string newFrameID)
	Transforms the given pose to the target reference frame. More...

Private Attributes
bool	allowUnknown_
	if true considers unknown costmap cells as free More...

ompl::base::RealVectorBounds	bounds_
	planner space boundaries (should match local costmap boundaries) More...

double	bx_
	boundary size x More...

double	by_
	boundary size y More...

costmap_2d::Costmap2D *	costmap_
	ptr to costmap More...

base_local_planner::CostmapModel *	costmapModel_
	ptr to costmap model More...

costmap_2d::Costmap2DROS *	costmapROS_
	ptr to costmap ros wrapper More...

bool	displayPlannerOutput_
	display planning information More...

std::vector< geometry_msgs::Point >	footprint_
	robot footprint, used in validity checking More...

std::string	globalFrame_
	the reference frame of the costmap More...

bool	initialized_
	is set if planner is initialized More...

int	interpolationNumPoses_
	number of poses to interpolate in the reeds shepp path More...

double	maxPlanningDuration_
	maximum Reeds-Shepp planning duration More...

double	minTurningRadius_
	minimum turning radius of the robot (dependent on rear steering mode) More...

ompl::base::StateSpacePtr	reedsSheppStateSpace_
	The ompl Reeds-Sheep state space. More...

std::string	robotFrame_
	the reference frame of the robot base More...

bool	robotStateValid_
	regard robot pose as free More...

ompl::geometric::SimpleSetupPtr	simpleSetup_
	OMPL geometric simple setup object. More...

ros::Time	stamp_
	the stamp to use in path poses More...

StateCheckingMode	stateCheckingMode_
	state checking mode: center(0) or footprint(1) More...

tf::TransformListener *	tfListener_
	tf transform listener More...

int	validStateMaxCost_
	below this cost, a state is considered valid More...

Detailed Description

Planner - ROS wrapper for the Reeds-Shepp state space of OMPL.

Definition at line 60 of file reeds_shepp_planner.h.

Member Enumeration Documentation

enum rsband_local_planner::ReedsSheppPlanner::RearSteeringMode

steering mode enum

Enumerator
none
counter
crab
hybrid

Definition at line 156 of file reeds_shepp_planner.h.

enum rsband_local_planner::ReedsSheppPlanner::StateCheckingMode

state checking mode enum

Enumerator
center
footprint

Definition at line 153 of file reeds_shepp_planner.h.

Constructor & Destructor Documentation

rsband_local_planner::ReedsSheppPlanner::ReedsSheppPlanner	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmapROS,
		tf::TransformListener *	tfListener
	)

Constructor.

Parameters

name	Name used to load planner parameters
costmapROS	Ptr to the ROS wrapper of the local costmap
tfListener	Ptr to a tf transform listener

Definition at line 44 of file reeds_shepp_planner.cpp.

rsband_local_planner::ReedsSheppPlanner::~ReedsSheppPlanner ( )

Destructor.

Definition at line 58 of file reeds_shepp_planner.cpp.

Member Function Documentation

double rsband_local_planner::ReedsSheppPlanner::getBX ( )

inline

Definition at line 146 of file reeds_shepp_planner.h.

double rsband_local_planner::ReedsSheppPlanner::getBY ( )

inline

Definition at line 147 of file reeds_shepp_planner.h.

double rsband_local_planner::ReedsSheppPlanner::getMaxPlanningDuration ( )

inline

Definition at line 145 of file reeds_shepp_planner.h.

double rsband_local_planner::ReedsSheppPlanner::getMinTurningRadius ( )

inline

Definition at line 144 of file reeds_shepp_planner.h.

void rsband_local_planner::ReedsSheppPlanner::initialize	(	std::string	name,
		costmap_2d::Costmap2DROS *	costmapROS,
		tf::TransformListener *	tfListener
	)

Initializes the planner.

Parameters

name	Name used to load planner parameters
costmapROS	Ptr to the ROS wrapper of the local costmap
tfListener	Ptr to a tf transform listener

Definition at line 64 of file reeds_shepp_planner.cpp.

bool rsband_local_planner::ReedsSheppPlanner::isStateValid	(	const ompl::base::SpaceInformation *	si,
		const ompl::base::State *	state
	)

private

Checks whether a state/pose is valid.

A state is valid if it is within defined boundaries and not in collision with the environment

Parameters

si	Ptr to an ompl space information object
state	Ptr to the state to check for validity

Returns: true if state is valid

Definition at line 197 of file reeds_shepp_planner.cpp.

bool rsband_local_planner::ReedsSheppPlanner::planPath	(	const geometry_msgs::PoseStamped &	startPose,
		const geometry_msgs::PoseStamped &	goalPose,
		std::vector< geometry_msgs::PoseStamped > &	path
	)

Plans a Reeds-Shepp path between the start and end poses.

Parameters

startPose	The start pose of the path
goalPose	The final pose of the path
path	The Reeds-Shepp path that will be returned

Returns: true if planning succeeds

Definition at line 250 of file reeds_shepp_planner.cpp.

int rsband_local_planner::ReedsSheppPlanner::planPathSkipFailures	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		std::vector< geometry_msgs::PoseStamped > &	newPath
	)

Plans a series of Reeds-Shepp paths that connect the path poses.

If a subpath fails, the planner continues with the next pose

Parameters

path	Contains the path poses to connect via Reeds-Shepp paths
newPath	Container for the returned path

Returns: The idx of the pose the planning failed at

Definition at line 360 of file reeds_shepp_planner.cpp.

int rsband_local_planner::ReedsSheppPlanner::planPathUntilFailure	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		std::vector< geometry_msgs::PoseStamped > &	newPath
	)

Plans a series of Reeds-Shepp paths that connect the path poses.

If a subpath fails the function returns

Parameters

path	Contains the path poses to connect via Reeds-Shepp paths
newPath	Container for the returned path

Returns: The idx of the pose the planning failed at

Definition at line 341 of file reeds_shepp_planner.cpp.

int rsband_local_planner::ReedsSheppPlanner::planRecedingPath	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		std::vector< geometry_msgs::PoseStamped > &	newPath
	)

Plans a Reeds-Shepp path between the start pose and a receding end pose.

Each time the planner fails, it uses the immediate pose before the current end pose

Parameters

path	Contains the path poses to connect via Reeds-Shepp paths
newPath	Container for the returned path

Returns: The idx of the pose the planning failed at

Definition at line 384 of file reeds_shepp_planner.cpp.

void rsband_local_planner::ReedsSheppPlanner::pose2state	(	const geometry_msgs::PoseStamped &	pose,
		ompl::base::State *	state
	)

private

Converts a pose msg to an ompl state.

Parameters

pose	The pose to convert to an ompl state
state	The converted ompl state container

Definition at line 186 of file reeds_shepp_planner.cpp.

void rsband_local_planner::ReedsSheppPlanner::reconfigure ( RSBandPlannerConfig & config )

Reconfigures the parameters of the planner.

Parameters

config The dynamic reconfigure configuration

Definition at line 112 of file reeds_shepp_planner.cpp.

void rsband_local_planner::ReedsSheppPlanner::setBoundaries	(	double	bx,
		double	by
	)

Definition at line 144 of file reeds_shepp_planner.cpp.

void rsband_local_planner::ReedsSheppPlanner::setMaxPlanningDuration ( double tmax )

inline

Definition at line 149 of file reeds_shepp_planner.h.

void rsband_local_planner::ReedsSheppPlanner::setMinTurningRadius ( double rho )

inline

Definition at line 148 of file reeds_shepp_planner.h.

void rsband_local_planner::ReedsSheppPlanner::state2pose	(	const ompl::base::State *	state,
		geometry_msgs::PoseStamped &	pose
	)

private

Converts an ompl state to a pose msg.

Parameters

state	The ompl state to convert to a pose msg
pose	The converted pose msg container

Definition at line 173 of file reeds_shepp_planner.cpp.

void rsband_local_planner::ReedsSheppPlanner::transform	(	const geometry_msgs::PoseStamped &	poseIn,
		geometry_msgs::PoseStamped &	poseOut,
		std::string	newFrameID
	)

private

Transforms the given pose to the target reference frame.

Parameters

poseIn	The given pose to transform
poseOut	The transformed pose container
newFrameID	The target reference frame to use in the transform

Definition at line 155 of file reeds_shepp_planner.cpp.

void rsband_local_planner::ReedsSheppPlanner::transform	(	const tf::Stamped< tf::Pose > &	tfIn,
		tf::Stamped< tf::Pose > &	tfOut,
		std::string	newFrameID
	)

private

Transforms the given pose to the target reference frame.

Parameters

tfIn	The given tf pose to transform
tfOut	The transformed tf pose container
newFrameID	The target reference frame to use in the transform

Definition at line 164 of file reeds_shepp_planner.cpp.

Member Data Documentation

bool rsband_local_planner::ReedsSheppPlanner::allowUnknown_

private

if true considers unknown costmap cells as free

Definition at line 246 of file reeds_shepp_planner.h.

ompl::base::RealVectorBounds rsband_local_planner::ReedsSheppPlanner::bounds_

private

planner space boundaries (should match local costmap boundaries)

Definition at line 211 of file reeds_shepp_planner.h.

double rsband_local_planner::ReedsSheppPlanner::bx_

private

boundary size x

Definition at line 248 of file reeds_shepp_planner.h.

double rsband_local_planner::ReedsSheppPlanner::by_

private

boundary size y

Definition at line 250 of file reeds_shepp_planner.h.

costmap_2d::Costmap2D* rsband_local_planner::ReedsSheppPlanner::costmap_

private

ptr to costmap

Definition at line 214 of file reeds_shepp_planner.h.

base_local_planner::CostmapModel* rsband_local_planner::ReedsSheppPlanner::costmapModel_

private

ptr to costmap model

Definition at line 218 of file reeds_shepp_planner.h.

costmap_2d::Costmap2DROS* rsband_local_planner::ReedsSheppPlanner::costmapROS_

private

ptr to costmap ros wrapper

Definition at line 216 of file reeds_shepp_planner.h.

bool rsband_local_planner::ReedsSheppPlanner::displayPlannerOutput_

private

display planning information

Definition at line 252 of file reeds_shepp_planner.h.

std::vector<geometry_msgs::Point> rsband_local_planner::ReedsSheppPlanner::footprint_

private

robot footprint, used in validity checking

Definition at line 220 of file reeds_shepp_planner.h.

std::string rsband_local_planner::ReedsSheppPlanner::globalFrame_

private

the reference frame of the costmap

Definition at line 228 of file reeds_shepp_planner.h.

bool rsband_local_planner::ReedsSheppPlanner::initialized_

private

is set if planner is initialized

Definition at line 255 of file reeds_shepp_planner.h.

int rsband_local_planner::ReedsSheppPlanner::interpolationNumPoses_

private

number of poses to interpolate in the reeds shepp path

Definition at line 238 of file reeds_shepp_planner.h.

double rsband_local_planner::ReedsSheppPlanner::maxPlanningDuration_

private

maximum Reeds-Shepp planning duration

Definition at line 236 of file reeds_shepp_planner.h.

double rsband_local_planner::ReedsSheppPlanner::minTurningRadius_

private

minimum turning radius of the robot (dependent on rear steering mode)

Definition at line 234 of file reeds_shepp_planner.h.

ompl::base::StateSpacePtr rsband_local_planner::ReedsSheppPlanner::reedsSheppStateSpace_

private

The ompl Reeds-Sheep state space.

Definition at line 207 of file reeds_shepp_planner.h.

std::string rsband_local_planner::ReedsSheppPlanner::robotFrame_

private

the reference frame of the robot base

Definition at line 226 of file reeds_shepp_planner.h.

bool rsband_local_planner::ReedsSheppPlanner::robotStateValid_

private

regard robot pose as free

Definition at line 242 of file reeds_shepp_planner.h.

ompl::geometric::SimpleSetupPtr rsband_local_planner::ReedsSheppPlanner::simpleSetup_

private

OMPL geometric simple setup object.

Definition at line 209 of file reeds_shepp_planner.h.

ros::Time rsband_local_planner::ReedsSheppPlanner::stamp_

private

the stamp to use in path poses

Definition at line 231 of file reeds_shepp_planner.h.

StateCheckingMode rsband_local_planner::ReedsSheppPlanner::stateCheckingMode_

private

state checking mode: center(0) or footprint(1)

Definition at line 240 of file reeds_shepp_planner.h.

tf::TransformListener* rsband_local_planner::ReedsSheppPlanner::tfListener_

private

tf transform listener

Definition at line 223 of file reeds_shepp_planner.h.

int rsband_local_planner::ReedsSheppPlanner::validStateMaxCost_

private

below this cost, a state is considered valid

Definition at line 244 of file reeds_shepp_planner.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation