From 2913075d0b0d941ea4a2d04d5d8646c5d33b8b1e Mon Sep 17 00:00:00 2001 From: Eason Hua Date: Wed, 6 Mar 2024 21:32:10 +0800 Subject: [PATCH] Update global_planner.h --- include/global_planner.h | 23 ++--------------------- 1 file changed, 2 insertions(+), 21 deletions(-) diff --git a/include/global_planner.h b/include/global_planner.h index 7bbf72c..da8011d 100644 --- a/include/global_planner.h +++ b/include/global_planner.h @@ -43,21 +43,11 @@ class Global_Planner // 参数 int algorithm_mode; - bool is_2D; - double fly_height_2D; - double safe_distance; - double time_per_path; int map_input; - double replan_time; - bool consider_neighbour; bool sim_mode; bool map_groundtruth; - // 本机位置 - // 邻机位置 // 根据不同的输入（激光雷达输入、相机输入等）生成occupymap - // 调用路径规划算法 生成路径 - // 调用轨迹优化算法 规划轨迹 // 订阅无人机状态、目标点、传感器数据（生成地图） ros::Subscriber goal_sub; @@ -70,21 +60,14 @@ class Global_Planner // ？ // 发布控制指令 - ros::Publisher command_pub,path_cmd_pub; + ros::Publisher command_pub; ros::Timer mainloop_timer, track_path_timer, safety_timer; - // A星规划器 - Astar::Ptr Astar_ptr; - prometheus_msgs::DroneState _DroneState; nav_msgs::Odometry Drone_odom; - nav_msgs::Path path_cmd; - double distance_walked; prometheus_msgs::ControlCommand Command_Now; - double distance_to_goal; - // 规划器状态 bool odom_ready; bool drone_ready; @@ -100,8 +83,6 @@ class Global_Planner // 规划初始状态及终端状态 Eigen::Vector3d start_pos, start_vel, start_acc, goal_pos, goal_vel; - float desired_yaw; - ros::Time tra_start_time; float tra_running_time; @@ -145,4 +126,4 @@ class Global_Planner } -#endif \ No newline at end of file +#endif