adore::apps::TrajectoryPlannerBase Class Reference

Base class for different trajectory planners: Handles communication w/ decision making module. Reads PlanningRequest and writes PlanningResult. Actual trajectory planning has to occur by overriding virtual computeTrajectory method. More...

#include <trajectory_planner_base.h>

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Public Member Functions
virtual	~TrajectoryPlannerBase ()
	TrajectoryPlannerBase ()
void	prime ()
void	planning_request_handler ()
virtual void	computeTrajectory (const adore::fun::PlanningRequest &request, adore::fun::PlanningResult &result)=0
	override computeTrajectory with actual planning method More...

Private Attributes
adore::mad::AWriter< adore::fun::PlanningResult > *	result_writer_
adore::mad::AFeedWithCallback< adore::fun::PlanningRequest > *	request_listener_

Detailed Description

Base class for different trajectory planners: Handles communication w/ decision making module. Reads PlanningRequest and writes PlanningResult. Actual trajectory planning has to occur by overriding virtual computeTrajectory method.

Constructor & Destructor Documentation

~TrajectoryPlannerBase()

virtual adore::apps::TrajectoryPlannerBase::~TrajectoryPlannerBase ( )

inlinevirtual

TrajectoryPlannerBase()

adore::apps::TrajectoryPlannerBase::TrajectoryPlannerBase ( )

inline

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Member Function Documentation

computeTrajectory()

virtual void adore::apps::TrajectoryPlannerBase::computeTrajectory ( const adore::fun::PlanningRequest &  request, adore::fun::PlanningResult &  result  )

pure virtual

override computeTrajectory with actual planning method

Implemented in adore::apps::TrajectoryPlannerLM, adore::apps::TrajectoryPlannerLF, adore::apps::TrajectoryPlannerLC, and adore::apps::TrajectoryPlannerALC.

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planning_request_handler()

void adore::apps::TrajectoryPlannerBase::planning_request_handler ( )

inline

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prime()

void adore::apps::TrajectoryPlannerBase::prime ( )

inline

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Member Data Documentation

request_listener_

adore::mad::AFeedWithCallback<adore::fun::PlanningRequest>* adore::apps::TrajectoryPlannerBase::request_listener_

private

result_writer_

adore::mad::AWriter<adore::fun::PlanningResult>* adore::apps::TrajectoryPlannerBase::result_writer_

private

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

• /home/fascar/temp/adore/libadore/libadore/adore/apps/include/adore/apps/trajectory_planner_base.h