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>
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_ |
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.
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inlinevirtual |
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inline |
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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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inline |
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inline |
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private |
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private |