Base class for a node managing high level planning logic. More...

#include <planning_logic.hpp>

Public Member Functions
	PlanningLogic ()

	~PlanningLogic ()

void	run_node ()
	Runs the node. More...

Private Member Functions
void	init_node ()
	Initialises the node and its parameters. More...

void	load_path (std::string file_name, float resolution, nav_msgs::Path &path)
	Loads a path from a text file. More...

void	load_transition_pts (std::string file_name)
	Loads the points delimiting the transitions. More...

geometry_msgs::Pose	find_closest (const std::vector< geometry_msgs::PoseStamped > &path, const geometry_msgs::Pose &pose)
	Finds the closest pose in a path. More...

void	odom_cb (const nav_msgs::Odometry msg)
	Callback for the odometry. More...

Private Attributes
ros::NodeHandle	nh_
	Node handler. More...

ros::Subscriber	odom_sub_
	Subscriber for robot's odometry. More...

ros::Publisher	path_pub_
	Publisher for a path. More...

ros::ServiceClient	disable_planner_client_
	Client for disabling the path planner. More...

ros::ServiceClient	enable_planner_client_
	Client for enabling the path planner. More...

nav_msgs::Odometry	odom_
	Odometry of the robot. More...

nav_msgs::Path	path_
	Path to publish. More...

bool	odom_received_
	Whether the odometry has been received. More...

bool	path_loaded_
	Whether the path was loaded with success. More...

bool	transition_pts_loaded_
	Whether the transition points have been loaded. More...

bool	transition_
	Whether the robot is following a transition path. More...

std::vector< Eigen::Vector3f >	transition_pts_
	Points marking start and end of transition paths. More...

ROS parameters
float	main_freq_

Detailed Description

Base class for a node managing high level planning logic.

The planner alternates between hard-coded path for transitions between lines, and informative path planner to survey a wall.

Definition at line 31 of file planning_logic.hpp.

Constructor & Destructor Documentation

mfcpp::PlanningLogic::PlanningLogic ( )

Definition at line 35 of file planning_logic.cpp.

mfcpp::PlanningLogic::~PlanningLogic ( )

Definition at line 42 of file planning_logic.cpp.

Member Function Documentation

geometry_msgs::Pose mfcpp::PlanningLogic::find_closest	(	const std::vector< geometry_msgs::PoseStamped > &	path,
		const geometry_msgs::Pose &	pose
	)

private

Finds the closest pose in a path.

Parameters

[in]	path	List of poses
[in]	pose	Current pose

Returns: Closest pose to pose in path

Definition at line 231 of file planning_logic.cpp.

void mfcpp::PlanningLogic::init_node ( )

private

Initialises the node and its parameters.

Definition at line 48 of file planning_logic.cpp.

void mfcpp::PlanningLogic::load_path	(	std::string	file_name,
		float	resolution,
		nav_msgs::Path &	path
	)

private

Loads a path from a text file.

The text file contains waypoints that are then interpolated by a spline.

Parameters

[in]	file_name	Relative path of the file containing the waypoints
[in]	resolution	Spatial resolution of the path
[out]	path	Loaded path

Definition at line 139 of file planning_logic.cpp.

void mfcpp::PlanningLogic::load_transition_pts ( std::string file_name )

private

Loads the points delimiting the transitions.

Parameters

file_name Relative path of the file containing the points

Definition at line 198 of file planning_logic.cpp.

void mfcpp::PlanningLogic::odom_cb ( const nav_msgs::Odometry msg )

private

Callback for the odometry.

Definition at line 254 of file planning_logic.cpp.

void mfcpp::PlanningLogic::run_node ( )

Runs the node.

Definition at line 93 of file planning_logic.cpp.

Member Data Documentation

ros::ServiceClient mfcpp::PlanningLogic::disable_planner_client_

private

Client for disabling the path planner.

Definition at line 46 of file planning_logic.hpp.

ros::ServiceClient mfcpp::PlanningLogic::enable_planner_client_

private

Client for enabling the path planner.

Definition at line 47 of file planning_logic.hpp.

float mfcpp::PlanningLogic::main_freq_

private

Main frequency

Definition at line 59 of file planning_logic.hpp.

ros::NodeHandle mfcpp::PlanningLogic::nh_

private

Node handler.

Definition at line 43 of file planning_logic.hpp.

nav_msgs::Odometry mfcpp::PlanningLogic::odom_

private

Odometry of the robot.

Definition at line 49 of file planning_logic.hpp.

bool mfcpp::PlanningLogic::odom_received_

private

Whether the odometry has been received.

Definition at line 51 of file planning_logic.hpp.

ros::Subscriber mfcpp::PlanningLogic::odom_sub_

private

Subscriber for robot's odometry.

Definition at line 44 of file planning_logic.hpp.

nav_msgs::Path mfcpp::PlanningLogic::path_

private

Path to publish.

Definition at line 50 of file planning_logic.hpp.

bool mfcpp::PlanningLogic::path_loaded_

private

Whether the path was loaded with success.

Definition at line 52 of file planning_logic.hpp.

ros::Publisher mfcpp::PlanningLogic::path_pub_

private

Publisher for a path.

Definition at line 45 of file planning_logic.hpp.

bool mfcpp::PlanningLogic::transition_

private

Whether the robot is following a transition path.

Definition at line 54 of file planning_logic.hpp.

std::vector<Eigen::Vector3f> mfcpp::PlanningLogic::transition_pts_

private

Points marking start and end of transition paths.

Definition at line 55 of file planning_logic.hpp.

bool mfcpp::PlanningLogic::transition_pts_loaded_

private

Whether the transition points have been loaded.

Definition at line 53 of file planning_logic.hpp.

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

/home/corentin/thesis_ws/src/marine-farm-cpp/mf_navigation/include/mf_navigation/planning_logic.hpp
/home/corentin/thesis_ws/src/marine-farm-cpp/mf_navigation/src/mf_navigation/planning_logic.cpp

MFCPP 1.0	Corentin Chauvin-Hameau – 2019-2020
Coverage Path Planning for an underwater robot surveying a marine farm

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation