6 #include <vizkit3d/SubTrajectoryVisualization.hpp>
7 #include <vizkit3d/MLSMapVisualization.hpp>
8 #include <vizkit3d/TraversabilityMap3dVisualization.hpp>
9 #include <vizkit3d/GridVisualization.hpp>
10 #include <vizkit3d/SbplSplineVisualization.hpp>
11 #include <vizkit3d/RigidBodyStateVisualization.hpp>
12 #include <maps/grid/MLSMap.hpp>
13 #include <base/Eigen.hpp>
14 #include <ugv_nav4d/Planner.hpp>
15 #include <traversability_generator3d/TraversabilityConfig.hpp>
16 #include <trajectory_follower/SubTrajectory.hpp>
34 void setupPlanner(
int argc,
char** argv);
44 void picked(
float x,
float y,
float z,
int buttonMask,
int modifierMask);
50 void plan(
const base::Pose& start,
const base::Pose& goal);
57 void maxSlopeEditingFinished();
58 void inclineLimittingLimitSpinBoxEditingFinished();
59 void inclineLimittingMinSlopeSpinBoxEditingFinished();
60 void slopeMetricScaleSpinBoxEditingFinished();
61 void startOrientationChanged(
int newValue);
62 void goalOrientationChanged(
int newValue);
63 void timeEditingFinished();
64 void replanButtonReleased();
66 void slopeMetricComboBoxIndexChanged(
int index);
67 void numThreadsValueChanged(
int newValue);
68 void obstacleDistanceSpinBoxEditingFinished();
69 void obstacleFactorSpinBoxEditingFinished();
73 void loadMls(
const std::string& path);
74 void startPlanThread();
77 vizkit3d::Vizkit3DWidget* widget;
78 QDoubleSpinBox* maxSlopeSpinBox;
79 QDoubleSpinBox* slopeMetricScaleSpinBox;
81 QDoubleSpinBox* inclineLimittingMinSlopeSpinBox;
82 QDoubleSpinBox* inclineLimittingLimitSpinBox;
83 QSlider* startOrientatationSlider;
84 QSlider* goalOrientationSlider;
85 QDoubleSpinBox* obstacleDistanceSpinBox;
86 QDoubleSpinBox* obstacleFactorSpinBox;
87 QComboBox* slopeMetricComboBox;
88 QComboBox* heuristicComboBox;
89 QSpinBox* numThreadsSpinBox;
92 vizkit3d::SbplSplineVisualization splineViz;
93 vizkit3d::SubTrajectoryVisualization trajViz;
94 vizkit3d::SubTrajectoryVisualization trajViz2;
95 vizkit3d::MLSMapVisualization mlsViz;
96 vizkit3d::TraversabilityMap3dVisualization trav3dViz;
97 vizkit3d::TraversabilityMap3dVisualization obstacleMapViz;
98 vizkit3d::RigidBodyStateVisualization startViz;
99 vizkit3d::RigidBodyStateVisualization goalViz;
100 vizkit3d::GridVisualization gridViz;
101 maps::grid::MLSMapSloped mlsMap;
104 bool pickStart =
true;
105 bool startPicked =
false;
106 bool goalPicked =
false;
107 bool threadRunning =
false;
108 sbpl_spline_primitives::SplinePrimitivesConfig splineConfig;
110 traversability_generator3d::TraversabilityConfig travConfig;
112 std::shared_ptr<ugv_nav4d::Planner> planner;
113 std::vector<trajectory_follower::SubTrajectory> path;
114 std::vector<trajectory_follower::SubTrajectory> beautifiedPath;
Definition: PlannerGui.h:31
void show()
Definition: PlannerGui.cpp:488
PlannerGui(int argc, char **argv)
Definition: PlannerGui.cpp:54
void plannerIsDone()
Definition: PlannerGui.cpp:593
void plan(const base::Pose &start, const base::Pose &goal)
Definition: PlannerGui.cpp:631
void picked(float x, float y, float z, int buttonMask, int modifierMask)
Definition: PlannerGui.cpp:446
Definition: PlannerGui.h:26
Definition: Mobility.hpp:12
Definition: PlannerConfig.hpp:8