Instantiates different layer plugins and aggregates them into one score. More...

#include <layered_costmap.h>

Public Member Functions
void	addPlugin (boost::shared_ptr< Layer > plugin)

void	getBounds (unsigned int x0, unsigned int xn, unsigned int y0, unsigned int yn)

double	getCircumscribedRadius ()
	The radius of a circle centered at the origin of the robot which just surrounds all points on the robot's footprint. More...

Costmap2D *	getCostmap ()

const std::vector< geometry_msgs::Point > &	getFootprint ()
	Returns the latest footprint stored with setFootprint(). More...

const std::string &	getGlobalFrameID () const noexcept

double	getInscribedRadius ()
	The radius of a circle centered at the origin of the robot which is just within all points and edges of the robot's footprint. More...

std::vector< boost::shared_ptr< Layer > > *	getPlugins ()

void	getUpdatedBounds (double &minx, double &miny, double &maxx, double &maxy)

bool	isCurrent ()

bool	isInitialized ()

bool	isRolling ()

bool	isSizeLocked ()

bool	isTrackingUnknown ()

	LayeredCostmap (std::string global_frame, bool rolling_window, bool track_unknown)
	Constructor for a costmap. More...

void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y, bool size_locked=false)

void	setFootprint (const std::vector< geometry_msgs::Point > &footprint_spec)
	Updates the stored footprint, updates the circumscribed and inscribed radii, and calls onFootprintChanged() in all layers. More...

void	updateMap (double robot_x, double robot_y, double robot_yaw)
	Update the underlying costmap with new data. If you want to update the map outside of the update loop that runs, you can call this. More...

	~LayeredCostmap ()
	Destructor. More...

Private Attributes
unsigned int	bx0_

unsigned int	bxn_

unsigned int	by0_

unsigned int	byn_

double	circumscribed_radius_

Costmap2D	costmap_

bool	current_
	< More...

std::vector< geometry_msgs::Point >	footprint_

std::string	global_frame_

bool	initialized_

double	inscribed_radius_

double	maxx_

double	maxy_

double	minx_

double	miny_

std::vector< boost::shared_ptr< Layer > >	plugins_

bool	rolling_window_

bool	size_locked_

Detailed Description

Instantiates different layer plugins and aggregates them into one score.

Definition at line 91 of file layered_costmap.h.

Constructor & Destructor Documentation

◆ LayeredCostmap()

costmap_2d::LayeredCostmap::LayeredCostmap	(	std::string	global_frame,
		bool	rolling_window,
		bool	track_unknown
	)

Constructor for a costmap.

Definition at line 50 of file layered_costmap.cpp.

◆ ~LayeredCostmap()

costmap_2d::LayeredCostmap::~LayeredCostmap ( )

Destructor.

Definition at line 74 of file layered_costmap.cpp.

Member Function Documentation

◆ addPlugin()

void costmap_2d::LayeredCostmap::addPlugin ( boost::shared_ptr< Layer > plugin )

inline

Definition at line 148 of file layered_costmap.h.

◆ getBounds()

void costmap_2d::LayeredCostmap::getBounds	(	unsigned int *	x0,
		unsigned int *	xn,
		unsigned int *	y0,
		unsigned int *	yn
	)

inline

Definition at line 158 of file layered_costmap.h.

◆ getCircumscribedRadius()

double costmap_2d::LayeredCostmap::getCircumscribedRadius ( )

inline

The radius of a circle centered at the origin of the robot which just surrounds all points on the robot's footprint.

This is updated by setFootprint().

Definition at line 184 of file layered_costmap.h.

◆ getCostmap()

Costmap2D* costmap_2d::LayeredCostmap::getCostmap ( )

inline

Definition at line 128 of file layered_costmap.h.

◆ getFootprint()

const std::vector<geometry_msgs::Point>& costmap_2d::LayeredCostmap::getFootprint ( )

inline

Returns the latest footprint stored with setFootprint().

Definition at line 177 of file layered_costmap.h.

◆ getGlobalFrameID()

const std::string& costmap_2d::LayeredCostmap::getGlobalFrameID ( ) const

inlinenoexcept

Definition at line 110 of file layered_costmap.h.

◆ getInscribedRadius()

double costmap_2d::LayeredCostmap::getInscribedRadius ( )

inline

The radius of a circle centered at the origin of the robot which is just within all points and edges of the robot's footprint.

This is updated by setFootprint().

Definition at line 191 of file layered_costmap.h.

◆ getPlugins()

std::vector<boost::shared_ptr<Layer> >* costmap_2d::LayeredCostmap::getPlugins ( )

inline

Definition at line 143 of file layered_costmap.h.

◆ getUpdatedBounds()

void costmap_2d::LayeredCostmap::getUpdatedBounds	(	double &	minx,
		double &	miny,
		double &	maxx,
		double &	maxy
	)

inline

Definition at line 118 of file layered_costmap.h.

◆ isCurrent()

bool costmap_2d::LayeredCostmap::isCurrent ( )

Definition at line 165 of file layered_costmap.cpp.

◆ isInitialized()

bool costmap_2d::LayeredCostmap::isInitialized ( )

inline

Definition at line 166 of file layered_costmap.h.

◆ isRolling()

bool costmap_2d::LayeredCostmap::isRolling ( )

inline

Definition at line 133 of file layered_costmap.h.

◆ isSizeLocked()

bool costmap_2d::LayeredCostmap::isSizeLocked ( )

inline

Definition at line 153 of file layered_costmap.h.

◆ isTrackingUnknown()

bool costmap_2d::LayeredCostmap::isTrackingUnknown ( )

inline

Definition at line 138 of file layered_costmap.h.

◆ resizeMap()

void costmap_2d::LayeredCostmap::resizeMap	(	unsigned int	size_x,
		unsigned int	size_y,
		double	resolution,
		double	origin_x,
		double	origin_y,
		bool	size_locked = `false`
	)

Definition at line 82 of file layered_costmap.cpp.

◆ setFootprint()

void costmap_2d::LayeredCostmap::setFootprint ( const std::vector< geometry_msgs::Point > & footprint_spec )

Updates the stored footprint, updates the circumscribed and inscribed radii, and calls onFootprintChanged() in all layers.

Definition at line 177 of file layered_costmap.cpp.

◆ updateMap()

void costmap_2d::LayeredCostmap::updateMap	(	double	robot_x,
		double	robot_y,
		double	robot_yaw
	)

Update the underlying costmap with new data. If you want to update the map outside of the update loop that runs, you can call this.

Definition at line 95 of file layered_costmap.cpp.

Member Data Documentation

◆ bx0_

unsigned int costmap_2d::LayeredCostmap::bx0_

private

Definition at line 201 of file layered_costmap.h.

◆ bxn_

unsigned int costmap_2d::LayeredCostmap::bxn_

private

Definition at line 201 of file layered_costmap.h.

◆ by0_

unsigned int costmap_2d::LayeredCostmap::by0_

private

Definition at line 201 of file layered_costmap.h.

◆ byn_

unsigned int costmap_2d::LayeredCostmap::byn_

private

Definition at line 201 of file layered_costmap.h.

◆ circumscribed_radius_

double costmap_2d::LayeredCostmap::circumscribed_radius_

private

Definition at line 207 of file layered_costmap.h.

◆ costmap_

Costmap2D costmap_2d::LayeredCostmap::costmap_

private

Definition at line 194 of file layered_costmap.h.

◆ current_

bool costmap_2d::LayeredCostmap::current_

private

<

Whether or not the costmap should roll with the robot

Definition at line 199 of file layered_costmap.h.

◆ footprint_

std::vector<geometry_msgs::Point> costmap_2d::LayeredCostmap::footprint_

private

Definition at line 208 of file layered_costmap.h.

◆ global_frame_

std::string costmap_2d::LayeredCostmap::global_frame_

private

Definition at line 195 of file layered_costmap.h.

◆ initialized_

bool costmap_2d::LayeredCostmap::initialized_

private

Definition at line 205 of file layered_costmap.h.

◆ inscribed_radius_

double costmap_2d::LayeredCostmap::inscribed_radius_

private

Definition at line 207 of file layered_costmap.h.

◆ maxx_

double costmap_2d::LayeredCostmap::maxx_

private

Definition at line 200 of file layered_costmap.h.

◆ maxy_

double costmap_2d::LayeredCostmap::maxy_

private

Definition at line 200 of file layered_costmap.h.

◆ minx_

double costmap_2d::LayeredCostmap::minx_

private

Definition at line 200 of file layered_costmap.h.

◆ miny_

double costmap_2d::LayeredCostmap::miny_

private

Definition at line 200 of file layered_costmap.h.

◆ plugins_

std::vector<boost::shared_ptr<Layer> > costmap_2d::LayeredCostmap::plugins_

private

Definition at line 203 of file layered_costmap.h.

◆ rolling_window_

bool costmap_2d::LayeredCostmap::rolling_window_

private

Definition at line 197 of file layered_costmap.h.

◆ size_locked_

bool costmap_2d::LayeredCostmap::size_locked_

private

Definition at line 206 of file layered_costmap.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LayeredCostmap()

◆ ~LayeredCostmap()

Member Function Documentation

◆ addPlugin()

◆ getBounds()

◆ getCircumscribedRadius()

◆ getCostmap()

◆ getFootprint()

◆ getGlobalFrameID()

◆ getInscribedRadius()

◆ getPlugins()

◆ getUpdatedBounds()

◆ isCurrent()

◆ isInitialized()

◆ isRolling()

◆ isSizeLocked()

◆ isTrackingUnknown()

◆ resizeMap()

◆ setFootprint()

◆ updateMap()

Member Data Documentation

◆ bx0_

◆ bxn_

◆ by0_

◆ byn_

◆ circumscribed_radius_

◆ costmap_

◆ current_

◆ footprint_

◆ global_frame_

◆ initialized_

◆ inscribed_radius_

◆ maxx_

◆ maxy_

◆ minx_

◆ miny_

◆ plugins_

◆ rolling_window_

◆ size_locked_