base_local_planner::MapGrid Class Reference

A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller. More...

#include <map_grid.h>

Public Member Functions
void	commonInit ()
	Utility to share initialization code across constructors.
void	computeGoalDistance (std::queue< MapCell * > &dist_queue, const costmap_2d::Costmap2D &costmap)
	Compute the distance from each cell in the local map grid to the local goal point.
void	computePathDistance (std::queue< MapCell * > &dist_queue, const costmap_2d::Costmap2D &costmap)
	Compute the distance from each cell in the local map grid to the planned path.
MapCell &	getCell (unsigned int x, unsigned int y)
size_t	getIndex (int x, int y)
	Returns a 1D index into the MapCell array for a 2D index.
	MapGrid (const MapGrid &mg)
	Copy constructor for a MapGrid.
	MapGrid (unsigned int size_x, unsigned int size_y, double scale, double x, double y)
	Creates a map of size_x by size_y with the desired scale and origin.
	MapGrid (unsigned int size_x, unsigned int size_y)
	Creates a map of size_x by size_y.
	MapGrid ()
	Creates a 0x0 map by default.
MapCell	operator() (unsigned int x, unsigned int y) const
	Returns a map cell accessed by (col, row).
MapCell &	operator() (unsigned int x, unsigned int y)
	Returns a map cell accessed by (col, row).
MapGrid &	operator= (const MapGrid &mg)
	Assignment operator for a MapGrid.
void	resetPathDist ()
	reset path distance fields for all cells
void	setPathCells (const costmap_2d::Costmap2D &costmap, const std::vector< geometry_msgs::PoseStamped > &global_plan)
	Update what cells are considered path based on the global plan.
void	sizeCheck (unsigned int size_x, unsigned int size_y, double o_x, double o_y)
	check if we need to resize
void	updateGoalCell (MapCell current_cell, MapCell check_cell, std::queue< MapCell * > &dist_queue, const costmap_2d::Costmap2D &costmap)
	Used to update the distance of a cell in goal distance computation.
void	updatePathCell (MapCell current_cell, MapCell check_cell, std::queue< MapCell * > &dist_queue, const costmap_2d::Costmap2D &costmap)
	Used to update the distance of a cell in path distance computation.
	~MapGrid ()
	Destructor for a MapGrid.
Public Attributes
double	goal_x_
double	goal_y_
	The goal distance was last computed from.
std::vector< MapCell >	map_
	Storage for the MapCells.
double	origin_x
double	origin_y
	lower left corner of grid in world space
double	scale
	grid scale in meters/cell
unsigned int	size_x_
unsigned int	size_y_
	The dimensions of the grid.

Detailed Description

A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller.

Definition at line 49 of file map_grid.h.

Constructor & Destructor Documentation

base_local_planner::MapGrid::MapGrid ( )

Creates a 0x0 map by default.

Definition at line 40 of file map_grid.cpp.

base_local_planner::MapGrid::MapGrid	(	unsigned int	size_x,
		unsigned int	size_y
	)

Creates a map of size_x by size_y.

Parameters:

	size_x	The width of the map
	size_y	The height of the map

Definition at line 45 of file map_grid.cpp.

base_local_planner::MapGrid::MapGrid	(	unsigned int	size_x,
		unsigned int	size_y,
		double	scale,
		double	x,
		double	y
	)

Creates a map of size_x by size_y with the desired scale and origin.

Parameters:

	size_x	The width of the map
	size_y	The height of the map
	scale	The resolution of each MapCell
	x	The x coordinate of the origin of the map
	y	The y coordinate of the origin of the map

Definition at line 51 of file map_grid.cpp.

base_local_planner::MapGrid::~MapGrid ( ) [inline]

Destructor for a MapGrid.

Definition at line 100 of file map_grid.h.

base_local_planner::MapGrid::MapGrid ( const MapGrid & mg )

Copy constructor for a MapGrid.

Parameters:

mg

The MapGrid to copy

Definition at line 57 of file map_grid.cpp.

Member Function Documentation

void base_local_planner::MapGrid::commonInit ( )

Utility to share initialization code across constructors.

Definition at line 63 of file map_grid.cpp.

void base_local_planner::MapGrid::computeGoalDistance	(	std::queue< MapCell * > &	dist_queue,
		const costmap_2d::Costmap2D &	costmap
	)

Compute the distance from each cell in the local map grid to the local goal point.

Parameters:

goal_queue

A queue containing the local goal cell

void base_local_planner::MapGrid::computePathDistance	(	std::queue< MapCell * > &	dist_queue,
		const costmap_2d::Costmap2D &	costmap
	)

Compute the distance from each cell in the local map grid to the planned path.

Parameters:

dist_queue

A queue of the initial cells on the path

MapCell& base_local_planner::MapGrid::getCell	(	unsigned int	x,
		unsigned int	y
	)			`[inline]`

Definition at line 93 of file map_grid.h.

size_t base_local_planner::MapGrid::getIndex	(	int	x,
		int	y
	)

Returns a 1D index into the MapCell array for a 2D index.

Parameters:

	x	The desired x coordinate
	y	The desired y coordinate

Returns:: The associated 1D index

Definition at line 79 of file map_grid.cpp.

MapCell base_local_planner::MapGrid::operator()	(	unsigned int	x,
		unsigned int	y
	)			const `[inline]`

Returns a map cell accessed by (col, row).

Parameters:

	x	The x coordinate of the cell
	y	The y coordinate of the cell

Returns:: A copy of the desired cell

Definition at line 89 of file map_grid.h.

MapCell& base_local_planner::MapGrid::operator()	(	unsigned int	x,
		unsigned int	y
	)			`[inline]`

Returns a map cell accessed by (col, row).

Parameters:

	x	The x coordinate of the cell
	y	The y coordinate of the cell

Returns:: A reference to the desired cell

Definition at line 79 of file map_grid.h.

MapGrid & base_local_planner::MapGrid::operator= ( const MapGrid & mg )

Assignment operator for a MapGrid.

Parameters:

mg

The MapGrid to assign from

Definition at line 83 of file map_grid.cpp.

void base_local_planner::MapGrid::resetPathDist ( )

reset path distance fields for all cells

Definition at line 111 of file map_grid.cpp.

void base_local_planner::MapGrid::setPathCells	(	const costmap_2d::Costmap2D &	costmap,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan
	)

Update what cells are considered path based on the global plan.

Definition at line 122 of file map_grid.cpp.

void base_local_planner::MapGrid::sizeCheck	(	unsigned int	size_x,
		unsigned int	size_y,
		double	o_x,
		double	o_y
	)

check if we need to resize

Parameters:

	size_x	The desired width
	size_y	The desired height
	o_x	the desired x coordinate of the origin
	o_y	the desired y coordinate of the origin

Definition at line 90 of file map_grid.cpp.

void base_local_planner::MapGrid::updateGoalCell	(	MapCell *	current_cell,
		MapCell *	check_cell,
		std::queue< MapCell * > &	dist_queue,
		const costmap_2d::Costmap2D &	costmap
	)			`[inline]`

Used to update the distance of a cell in goal distance computation.

Parameters:

	current_cell	The cell we're currently in
	check_cell	The cell to be updated

mark the cell as visited

Definition at line 170 of file map_grid.h.

void base_local_planner::MapGrid::updatePathCell	(	MapCell *	current_cell,
		MapCell *	check_cell,
		std::queue< MapCell * > &	dist_queue,
		const costmap_2d::Costmap2D &	costmap
	)			`[inline]`