GlobalPlanner¶
Module¶
The GlobalPlanner module supports path planning based on a global cost map, which is generated from a Grid Map. The module uses an A* style path finding algorithm.
Most functions require permission pilot.permission_e.MOVE
, see pilot.permission_e.
Functions¶
Common Parameters¶
goal_options_t options
- Optional goal options, see pilot.goal_options_t. If not specified will use default values.
Hash64 job
- Optional job id, to identify the new goal. If not specified (or set to zero) will generate a new random id. See vnx.Hash64.
Asynchronous Move Functions¶
The following functions set / append a new goal while returing immediately.
-
void
set_goal
(PathPoint2D goal, goal_options_t options, Hash64 job)¶ Sets a new goal using the provided pose and parameters in
goal
. Any pending goals are canceled beforehand. See pilot.PathPoint2D. Requires permissionMOVE
.
Synchronous Move Functions¶
The following functions return when the new goal is physically reached, or the goal was canceled.
-
void
move_to
(PathPoint2D goal, goal_options_t options, Hash64 job)¶ Same as
set_goal(...)
but will block until goal is reached or canceled. See pilot.PathPoint2D. Requires permissionMOVE
.