CostmapPlanner Class Reference

A planner implementing the A* algorithm on a Costmap2D grid. More...

#include <CostmapPlanner.hpp>

Inheritance diagram for CostmapPlanner:

Collaboration diagram for CostmapPlanner:

Public Member Functions
	CostmapPlanner ()
	Default constructor.
virtual void	on_initialize () override
	Initializes the planner.
void	update (NavState &nav_state) override
	Executes a planning cycle using the current navigation state.

Protected Member Functions
std::vector< geometry_msgs::msg::Pose >	a_star_path (const Costmap2D &map, const geometry_msgs::msg::Pose &start, const geometry_msgs::msg::Pose &goal)
	Internal A* path planning routine.

Protected Attributes
bool	continuous_replan_ {true}
	Wheter replan path at freq time.
double	cost_factor_
	Scaling factor applied to cell cost values.
geometry_msgs::msg::Pose	current_goal_
	Current goal.
nav_msgs::msg::Path	current_path_
	Most recently computed path.
double	heuristic_scale_ {1.0}
	Scaling factor applied to the heuristic term in A*.
double	inflation_penalty_
	Extra cost penalty for paths near inflated obstacles.
rclcpp::Publisher< nav_msgs::msg::Path >::SharedPtr	path_pub_
	Publisher for the computed navigation path (for visualization or monitoring).

Detailed Description

A planner implementing the A* algorithm on a Costmap2D grid.

This class generates a collision-free path using A* search over a 2D costmap. It supports cost-based penalties and anisotropic movement costs.

Constructor & Destructor Documentation

CostmapPlanner()

CostmapPlanner ( )

explicit

Default constructor.

Initializes internal parameters and configuration values.

Member Function Documentation

a_star_path()

std::vector< geometry_msgs::msg::Pose > a_star_path ( const Costmap2D & map, const geometry_msgs::msg::Pose & start, const geometry_msgs::msg::Pose & goal )

protected

Internal A* path planning routine.

Computes a path on the given costmap from the start pose to the goal pose.

Movement cost is influenced by:

• The cost of each cell (retrieved from the costmap).
• Additional inflation penalties near obstacles.
• Anisotropic weights for axial vs diagonal movement.

Parameters

map	The costmap to plan over.
start	The robot's starting pose in world coordinates.
goal	The goal pose in world coordinates.

Returns

A vector of poses representing the planned path.

on_initialize()

void on_initialize ( )

overridevirtual

Initializes the planner.

Loads planner parameters, sets up ROS publishers, and prepares the costmap-based planning environment.

Exceptions

std::runtime_error

if initialization fails.

update()

void update ( NavState & nav_state )

override

Executes a planning cycle using the current navigation state.

Computes a path from the robot's current pose to the goal using A*.

Parameters

nav_state

Current shared navigation state (input/output).

Member Data Documentation

continuous_replan_

bool continuous_replan_ {true}

protected

Wheter replan path at freq time.

cost_factor_

double cost_factor_

protected

Scaling factor applied to cell cost values.

current_goal_

geometry_msgs::msg::Pose current_goal_

protected

Current goal.

current_path_

nav_msgs::msg::Path current_path_

protected

Most recently computed path.

heuristic_scale_

double heuristic_scale_ {1.0}

protected

Scaling factor applied to the heuristic term in A*.

inflation_penalty_

double inflation_penalty_

protected

Extra cost penalty for paths near inflated obstacles.

path_pub_

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

protected

Publisher for the computed navigation path (for visualization or monitoring).

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

• planners/easynav_costmap_planner/include/easynav_costmap_planner/CostmapPlanner.hpp
• planners/easynav_costmap_planner/src/easynav_costmap_planner/CostmapPlanner.cpp