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fix tebplanner

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Robofish 2026-03-09 14:47:17 +08:00
parent a829de6565
commit 37554e7dd7
3 changed files with 8 additions and 6 deletions
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1
src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/homotopy_class_planner.h
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@ -54,6 +54,7 @@
#include <std_msgs/msg/color_rgba.hpp> #include <std_msgs/msg/color_rgba.hpp>
#include <rclcpp/rclcpp.hpp> #include <rclcpp/rclcpp.hpp>
#include <nav2_util/lifecycle_node.hpp>
#include "teb_local_planner/planner_interface.h" #include "teb_local_planner/planner_interface.h"
#include "teb_local_planner/teb_config.h" #include "teb_local_planner/teb_config.h"

5
src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/optimal_planner.h
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@ -41,6 +41,7 @@
#include <math.h> #include <math.h>
#include <nav2_util/lifecycle_node.hpp>
// teb stuff // teb stuff
#include "teb_local_planner/teb_config.h" #include "teb_local_planner/teb_config.h"
@ -130,12 +131,12 @@ public:
*/ */
TebOptimalPlanner(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles = NULL, TebOptimalPlanner(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles = NULL,
TebVisualizationPtr visual = TebVisualizationPtr(), const ViaPointContainer* via_points = NULL); TebVisualizationPtr visual = TebVisualizationPtr(), const ViaPointContainer* via_points = NULL);
/** /**
* @brief Destruct the optimal planner. * @brief Destruct the optimal planner.
*/ */
virtual ~TebOptimalPlanner(); virtual ~TebOptimalPlanner();
/** /**
* @brief Initializes the optimal planner * @brief Initializes the optimal planner
* @param node Shared pointer for rclcpp::Node * @param node Shared pointer for rclcpp::Node

8
src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/optimal_planner.cpp
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@ -64,11 +64,11 @@ namespace teb_local_planner
TebOptimalPlanner::TebOptimalPlanner() : cfg_(nullptr), obstacles_(NULL), via_points_(NULL), cost_(HUGE_VAL), prefer_rotdir_(RotType::none), TebOptimalPlanner::TebOptimalPlanner() : cfg_(nullptr), obstacles_(NULL), via_points_(NULL), cost_(HUGE_VAL), prefer_rotdir_(RotType::none),
initialized_(false), optimized_(false) initialized_(false), optimized_(false)
{ {
} }
TebOptimalPlanner::TebOptimalPlanner(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles, TebVisualizationPtr visual, const ViaPointContainer* via_points) TebOptimalPlanner::TebOptimalPlanner(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles, TebVisualizationPtr visual, const ViaPointContainer* via_points)
{ {
initialize(node, cfg, obstacles, visual, via_points); initialize(node, cfg, obstacles, visual, via_points);
} }
@ -76,7 +76,7 @@ TebOptimalPlanner::~TebOptimalPlanner()
{ {
clearGraph(); clearGraph();
// free dynamically allocated memory // free dynamically allocated memory
//if (optimizer_) //if (optimizer_)
// g2o::Factory::destroy(); // g2o::Factory::destroy();
//g2o::OptimizationAlgorithmFactory::destroy(); //g2o::OptimizationAlgorithmFactory::destroy();
//g2o::HyperGraphActionLibrary::destroy(); //g2o::HyperGraphActionLibrary::destroy();