分析以下程序:namespace nav_core { /** * @class BaseGlobalPlanner * @brief Provides an interface for global planners used in navigation. All global planners written as plugins for the navigation stack must adhere to this interface. */ class BaseGlobalPlanner{ public: /** * @brief Given a goal pose in the world, compute a plan * @param start The start pose * @param goal The goal pose * @param plan The plan... filled by the planner * @return True if a valid plan was found, false otherwise */ virtual bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan) = 0; /** * @brief Given a goal pose in the world, compute a plan * @param start The start pose * @param goal The goal pose * @param plan The plan... filled by the planner * @param cost The plans calculated cost * @return True if a valid plan was found, false otherwise */ virtual bool makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan, double& cost) { cost = 0; return makePlan(start, goal, plan); } /** * @brief Initialization function for the BaseGlobalPlanner * @param name The name of this planner * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning */ virtual void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros) = 0; /** * @brief Virtual destructor for the interface */ virtual ~BaseGlobalPlanner(){} protected: BaseGlobalPlanner(){} }; }; // namespace nav_core #endif // NAV_CORE_BASE_GLOBAL_PLANNER_H
时间: 2024-02-14 09:20:14 浏览: 133
这段代码定义了一个名为 `BaseGlobalPlanner` 的 C++ 类,该类是导航全局规划器的接口,所有为导航堆栈编写的全局规划器插件都必须遵循该接口。该类有三个函数:
1. `makePlan` 函数:给定一个起点和终点的姿态信息,计算出一条连接两点的路径,并将路径填充到一个 `std::vector` 类型的变量中。该函数返回一个布尔值,表示是否成功生成路径。
2. `makePlan` 函数(重载):与第一个函数相似,但是多了一个参数 `cost`,表示计算出的路径的代价。
3. `initialize` 函数:初始化导航全局规划器,其中 `name` 表示规划器的名称, `costmap_ros` 是一个指向 ROS 中表示代价地图的 `Costmap2DROS` 类对象的指针。
此外,该类还有一个虚析构函数。最后,该类被定义在命名空间 `nav_core` 中,且定义了一个宏 `NAV_CORE_BASE_GLOBAL_PLANNER_H`,用于防止头文件重复包含。
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分析下列程序的运行namespace nav_core { /** * @class BaseLocalPlanner * @brief Provides an interface for local planners used in navigation. All local planners written as plugins for the navigation stack must adhere to this interface. / class BaseLocalPlanner{ public: /* * @brief Given the current position, orientation, and velocity of the robot, compute velocity commands to send to the base * @param cmd_vel Will be filled with the velocity command to be passed to the robot base * @return True if a valid velocity command was found, false otherwise / virtual bool computeVelocityCommands(geometry_msgs::Twist& cmd_vel) = 0; /* * @brief Check if the goal pose has been achieved by the local planner * @return True if achieved, false otherwise / virtual bool isGoalReached() = 0; /* * @brief Set the plan that the local planner is following * @param plan The plan to pass to the local planner * @return True if the plan was updated successfully, false otherwise / virtual bool setPlan(const std::vector<geometry_msgs::PoseStamped>& plan) = 0; /* * @brief Constructs the local planner * @param name The name to give this instance of the local planner * @param tf A pointer to a transform listener * @param costmap_ros The cost map to use for assigning costs to local plans / virtual void initialize(std::string name, tf2_ros::Buffer tf, costmap_2d::Costmap2DROS* costmap_ros) = 0; /** * @brief Virtual destructor for the interface */ virtual ~BaseLocalPlanner(){} protected: BaseLocalPlanner(){} }; }; // namespace nav_core #endif // NAV_CORE_BASE_LOCAL_PLANNER_H
这是一个 C++ 程序,定义了一个命名空间 nav_core,其中包含了一个类 BaseLocalPlanner,该类提供了用于导航中本地规划器的接口。所有作为导航栈插件编写的本地规划器都必须遵守此接口。
该类包含了四个虚函数,分别是:
1. computeVelocityCommands: 根据机器人的当前位置、方向和速度计算速度命令,并将其填充到 cmd_vel 中。
2. isGoalReached: 检查本地规划器是否已经到达目标位姿。
3. setPlan: 设置本地规划器要遵循的路径。
4. initialize: 构造本地规划器,并初始化其参数。
该类还包含了一个保护构造函数和一个虚析构函数。
/** * @brief * Processing Chain Assert * * @details * Processing chains while executing on a core can encounter a fatal error. * In such a scenario the DPM entities would need to be notified * with information relevant to the error. The assertion information * block here can be exchanged */ typedef struct DPM_DPCAssert_t { /** * @brief Line Number: */ uint32_t lineNum; /** * @brief File Name: */ char fileName[DPM_MAX_FILE_NAME_LEN]; /** * @brief Processing Chain specific argument1 */ uint32_t arg0; /** * @brief Processing Chain specific argument2 */ uint32_t arg1; }DPM_DPCAssert;解释下这个结构体
这个结构体名为 DPM_DPCAssert_t,它是用来在发生处理链(Processing chains)执行过程中的致命错误时,向 DPM 实体提供相关信息的。该结构体包含以下字段:
- lineNum:错误发生的代码行号。
- fileName:错误发生的文件名,通过字符串形式存储。
- arg0:处理链特定的参数1。
- arg1:处理链特定的参数2。
由此看出,这个结构体主要是用于在出现错误时,提供相关的调试信息,以便于进行调试和分析。
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