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elvout / cs393r

CS 393R Graduate Autonomous Robots, Fall 2021 | Autobots
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Restructure Navigation Namespace #67

Closed elvout closed 2 years ago

elvout commented 2 years ago

The goal of this issue is to rework the Navigation class into a hierarchy of classes.

Create two new namespaces within navigation, global and local. These namespaces will house classes for global planning and local planning, respectively. Local and Global planners should not need to store references to each other, nor should they have to access the Navigation class (prevent #include cycles).

The Navigation class will interface between ROS, the local planner, and the global planner.

Eventually the Navigation class will also interface with the particle filter for localization.

elvout commented 2 years ago
elvout commented 2 years ago

Plan for online obstacle addition for MapGraph. (What class stores the MapGraph and how does it get updated?)

navigation::global::GlobalPlanner manages the MapGraph. A rough API exists for obstacle addition, but it has not been implemented yet.