GridMapAStarPlanner Class Reference

Planner based on A* algorithm using GridMap elevation data. More...

#include <GridMapAStarPlanner.hpp>

Inheritance diagram for GridMapAStarPlanner:

Collaboration diagram for GridMapAStarPlanner:

Public Member Functions
	GridMapAStarPlanner ()
	Default constructor.
virtual std::expected< void, std::string >	on_initialize () override
	Initializes the planner.
void	update (NavState &nav_state) override
	Computes a path using A* algorithm.

Protected Member Functions
std::vector< geometry_msgs::msg::Pose >	a_star_path (const grid_map::GridMap &map, const geometry_msgs::msg::Pose &start, const geometry_msgs::msg::Pose &goal)
	Internal A* implementation.
bool	isTraversable (const grid_map::GridMap &map, const grid_map::Index &from, const grid_map::Index &to) const
	Checks if the slope between two cells is below threshold.

Protected Attributes
double	clearance_distance_
nav_msgs::msg::Path	current_path_
double	max_allowed_slope_
rclcpp::Publisher< nav_msgs::msg::Path >::SharedPtr	path_pub_
double	robot_radius_

Detailed Description

Planner based on A* algorithm using GridMap elevation data.

Constructor & Destructor Documentation

GridMapAStarPlanner()

GridMapAStarPlanner ( )

explicit

Default constructor.

Member Function Documentation

a_star_path()

std::vector< geometry_msgs::msg::Pose > a_star_path ( const grid_map::GridMap & map, const geometry_msgs::msg::Pose & start, const geometry_msgs::msg::Pose & goal )

protected

Internal A* implementation.

Parameters

map	The grid map with elevation layer
start	Pose in world coordinates
goal	Pose in world coordinates

Returns

List of poses representing the path

isTraversable()

bool isTraversable ( const grid_map::GridMap & map, const grid_map::Index & from, const grid_map::Index & to ) const

protected

Checks if the slope between two cells is below threshold.

Parameters

map	The grid map
from	Index of the first cell
to	Index of the second cell

Returns

true if slope is acceptable, false otherwise

on_initialize()

std::expected< void, std::string > on_initialize ( )

overridevirtual

Initializes the planner.

Creates necessary publishers/subscribers and initializes the map instances.

Returns

std::expected<void, std::string> Success or error string.

update()

void update ( NavState & nav_state )

override

Computes a path using A* algorithm.

Parameters

nav_state

Current navigation state (with odometry and goals)

Member Data Documentation

clearance_distance_

double clearance_distance_

protected

current_path_

nav_msgs::msg::Path current_path_

protected

max_allowed_slope_

double max_allowed_slope_

protected

path_pub_

rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr path_pub_

protected

robot_radius_

double robot_radius_

protected

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

• easynav_gridmap_astar_planner/include/easynav_gridmap_astar_planner/GridMapAStarPlanner.hpp
• easynav_gridmap_astar_planner/src/easynav_gridmap_astar_planner/GridMapAStarPlanner.cpp