Rock
the Robot Construction Kit
corridor_planner::Task
- doc: no documentation provided for this task context
- subclassed from: RTT::TaskContext
- This task does NOT need any configuration
- States
- EXCEPTION: toplevel
- FATAL_ERROR: toplevel
- INIT: toplevel
- PRE_OPERATIONAL: toplevel
- RUNNING: toplevel
- RUNTIME_ERROR: toplevel
- STOPPED: toplevel
- annotations: runtime
- dstar: runtime
- no_solution: exception
- plan: runtime
- plan_simplification: runtime
- skeleton: runtime
- wait_for_map: error
- Input Ports
- map: (/RTT/extras/ReadOnlyPointer</std/vector</envire/BinaryEvent>>) Current map
- Output Ports
- plan: (/corridors/Plan)
- state: (/int32_t)
- Properties
- cost_cutoff: (/double) cost above which the search is aborted
- enable_known_unknown_filter: (/bool)
- enable_narrow_wide_filter: (/bool)
- enable_strong_edge_filter: (/bool)
- known_unknown_filter: (/corridor_planner/KnownUnknownFilterConfig)
- map_band: (/std/string</int8_t>) the band name in the traversability map that should be used as the underlying data
- map_id: (/std/string</int8_t>) the map ID of the traversability map that should be used for planning
- map_path: (/std/string</int8_t>) when using an on-disk envire environment, this is the path to the environment. Otherwise, leave empty and send the map through the map input port.
- margin: (/double) allowed cost margin, as a rate w.r.t. the optimal cost (i.e. 1.1 means 10% above optimal)
- min_width: (/double) minimum width at which a corridor can be traversed, in meters
- narrow_wide_filter: (/corridor_planner/NarrowWideFilterConfig)
- start_point: (/base/Vector3d) starting point in world coordinates
- strong_edge_filter: (/corridor_planner/StrongEdgeFilterConfig)
- target_point: (/base/Vector3d) target point in world coordinates
- terrain_classes: (/std/string</int8_t>) path to the terrain class definition file
- Operations [NOT IMPLEMENTED YET]