SimplePlanner Class Reference

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

#include <SimplePlanner.hpp>

Inheritance diagram for SimplePlanner:

Collaboration diagram for SimplePlanner:

Public Member Functions
virtual void	on_initialize () override
	Initializes the planner.
	SimplePlanner ()
	Default constructor.
void	update (NavState &nav_state) override
	Updates the planner by computing a new path.

Protected Member Functions
std::vector< geometry_msgs::msg::Pose >	a_star_path (const SimpleMap &map, const geometry_msgs::msg::Pose &start, const geometry_msgs::msg::Pose &goal, double resolution)
	Runs the A* algorithm to compute a path.
bool	isFreeWithClearance (const SimpleMap &map, int cx, int cy, double clearance_cells)
	Checks whether a map cell is free, considering a clearance area.

Protected Attributes
double	clearance_distance_
	Minimum clearance distance from obstacles in meters.
nav_msgs::msg::Path	current_path_
	The last computed path.
rclcpp::Publisher< nav_msgs::msg::Path >::SharedPtr	path_pub_
	Publisher for the computed navigation path.
double	robot_radius_
	Radius of the robot used for collision checking.

Detailed Description

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

Constructor & Destructor Documentation

SimplePlanner()

SimplePlanner ( )

explicit

Default constructor.

Initializes the internal variables and parameters of the planner.

Member Function Documentation

a_star_path()

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

protected

Runs the A* algorithm to compute a path.

Parameters

map	The occupancy map used for path planning.
start	The starting pose in world coordinates.
goal	The target pose in world coordinates.
resolution	The cell resolution of the map (in meters).

Returns

A sequence of poses representing the planned path.

isFreeWithClearance()

bool isFreeWithClearance ( const SimpleMap & map, int cx, int cy, double clearance_cells )

protected

Checks whether a map cell is free, considering a clearance area.

This function verifies if a cell and its surrounding cells (within the specified clearance radius) are free of obstacles.

Parameters

map	The occupancy map to query.
cx	The x-coordinate of the cell.
cy	The y-coordinate of the cell.
clearance_cells	The clearance radius expressed in number of cells.

Returns

true if the cell and its clearance area are free, false otherwise.

on_initialize()

void on_initialize ( )

overridevirtual

Initializes the planner.

Configures publishers, retrieves parameters, and prepares the planner for path generation using the available map data.

Exceptions

std::runtime_error

if initialization fails.

update()

void update ( NavState & nav_state )

override

Updates the planner by computing a new path.

Uses the current navigation state (including the robot's position and goal) to generate a path based on the A* algorithm.

Parameters

nav_state

The current navigation state (contains odometry and goal information).

Member Data Documentation

clearance_distance_

double clearance_distance_

protected

Minimum clearance distance from obstacles in meters.

current_path_

nav_msgs::msg::Path current_path_

protected

The last computed path.

path_pub_

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

protected

Publisher for the computed navigation path.

robot_radius_

double robot_radius_

protected

Radius of the robot used for collision checking.

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

• planners/easynav_simple_planner/include/easynav_simple_planner/SimplePlanner.hpp
• planners/easynav_simple_planner/src/easynav_simple_planner/SimplePlanner.cpp