List of all members | Public Types | Public Member Functions | Protected Attributes
AStarWithOrientationImpl Class Reference

#include <armarx/navigation/global_planning/AStarWithOrientation.h>

Public Types

using Params = AStarWithOrientationParams
 

Public Member Functions

 AStarWithOrientationImpl (const Params &params, const core::GeneralConfig &generalConfig, const std::optional< navigation::algorithms::orientation_aware::Costmap3D > &costmap, VirtualRobot::RobotPtr robot)
 
double lastAStarSeconds () const noexcept
 Wall-clock seconds spent in A* / in the smoother during the last plan() call.
 
std::size_t lastExpandedNodes () const noexcept
 Nodes expanded by A* during the last plan() call.
 
double lastSmootherSeconds () const noexcept
 
std::optional< GlobalPlannerResult > plan (const core::Pose &start, const core::Pose &goal)
 
void setParamOverrides (std::optional< algorithms::orientation_aware::io::AStarWithOrientationParams > aStar, std::optional< algorithms::orientation_aware::smoothing::io::SmoothingParams > smoothing)
 Override the parameters that plan() otherwise loads from the package config files, for the offline planner ablation.
 
void setSmoothingEnabled (bool enabled) noexcept
 Run the Ceres smoother after A*. Enabled by default, matching deployed behaviour.
 
void updateCostmap (const std::optional< navigation::algorithms::orientation_aware::Costmap3D > &costmap)
 
void visualizeDebugInfo (viz::Client &vizClient, const std::string &vizLayerNamePrefix="global_planner_debug")
 

Protected Attributes

std::optional< navigation::algorithms::orientation_aware::Costmap3D > costmap
 
core::GeneralConfig generalConfig
 
Params params
 
VirtualRobot::RobotPtr robot
 

Detailed Description

Definition at line 54 of file AStarWithOrientation.h.

Member Typedef Documentation

◆ Params

using Params = AStarWithOrientationParams

Definition at line 57 of file AStarWithOrientation.h.

Constructor & Destructor Documentation

◆ AStarWithOrientationImpl()

AStarWithOrientationImpl ( const Params & params,
const core::GeneralConfig & generalConfig,
const std::optional< navigation::algorithms::orientation_aware::Costmap3D > & costmap,
VirtualRobot::RobotPtr robot )

Definition at line 131 of file AStarWithOrientation.cpp.

Member Function Documentation

◆ lastAStarSeconds()

double lastAStarSeconds ( ) const
inlinenoexcept

Wall-clock seconds spent in A* / in the smoother during the last plan() call.

Definition at line 105 of file AStarWithOrientation.h.

◆ lastExpandedNodes()

std::size_t lastExpandedNodes ( ) const
inlinenoexcept

Nodes expanded by A* during the last plan() call.

Definition at line 98 of file AStarWithOrientation.h.

◆ lastSmootherSeconds()

double lastSmootherSeconds ( ) const
inlinenoexcept

Definition at line 111 of file AStarWithOrientation.h.

◆ plan()

std::optional< GlobalPlannerResult > plan ( const core::Pose & start,
const core::Pose & goal )

Definition at line 155 of file AStarWithOrientation.cpp.

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◆ setParamOverrides()

void setParamOverrides ( std::optional< algorithms::orientation_aware::io::AStarWithOrientationParams > aStar,
std::optional< algorithms::orientation_aware::smoothing::io::SmoothingParams > smoothing )
inline

Override the parameters that plan() otherwise loads from the package config files, for the offline planner ablation.

Unset (the default) means the parameters are loaded from algorithms/astarwithorientation.cfg and algorithms/orientation-aware-smoothing.cfg exactly as before, so deployed behaviour is unchanged.

Definition at line 81 of file AStarWithOrientation.h.

◆ setSmoothingEnabled()

void setSmoothingEnabled ( bool enabled)
inlinenoexcept

Run the Ceres smoother after A*. Enabled by default, matching deployed behaviour.

Definition at line 91 of file AStarWithOrientation.h.

◆ updateCostmap()

void updateCostmap ( const std::optional< navigation::algorithms::orientation_aware::Costmap3D > & costmap)

Definition at line 141 of file AStarWithOrientation.cpp.

◆ visualizeDebugInfo()

void visualizeDebugInfo ( viz::Client & vizClient,
const std::string & vizLayerNamePrefix = "global_planner_debug" )

Definition at line 409 of file AStarWithOrientation.cpp.

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Member Data Documentation

◆ costmap

std::optional<navigation::algorithms::orientation_aware::Costmap3D> costmap
protected

Definition at line 119 of file AStarWithOrientation.h.

◆ generalConfig

core::GeneralConfig generalConfig
protected

Definition at line 118 of file AStarWithOrientation.h.

◆ params

Params params
protected

Definition at line 117 of file AStarWithOrientation.h.

◆ robot

VirtualRobot::RobotPtr robot
protected

Definition at line 120 of file AStarWithOrientation.h.

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