base_local_planner::MapGridVisualizer Class Reference

#include <map_grid_visualizer.h>

Public Member Functions
void	initialize (const std::string &name, const costmap_2d::Costmap2D *costmap, boost::function< bool(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function)
	Initializes the MapGridVisualizer.
	MapGridVisualizer ()
	Default constructor.
void	publishCostCloud ()
	Build and publish a PointCloud if the publish_cost_grid_pc parameter was true. Only include points for which the cost_function at (cx,cy) returns true.
	~MapGridVisualizer ()
Private Attributes
pcl::PointCloud< MapGridCostPoint >	cost_cloud_
boost::function< bool(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)>	cost_function_
	The function to be used to generate the cost components for the output PointCloud.
const costmap_2d::Costmap2D *	costmap_p_
	The costmap to use to infer the size of the underlying map grid.
std::string	frame_id_
	The frame to assign to the output PointCloud.
std::string	name_
	The name to get parameters relative to.
ros::NodeHandle	ns_nh_
pcl_ros::Publisher < MapGridCostPoint >	pub_
bool	publish_cost_grid_pc_
	Whether or not to build and publsih a PointCloud.

Detailed Description

Definition at line 43 of file map_grid_visualizer.h.

Constructor & Destructor Documentation

base_local_planner::MapGridVisualizer::MapGridVisualizer ( )

Default constructor.

Definition at line 39 of file map_grid_visualizer.cpp.

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

Destructor for the visualizer

Definition at line 60 of file map_grid_visualizer.h.

Member Function Documentation

void base_local_planner::MapGridVisualizer::initialize	(	const std::string &	name,
		const costmap_2d::Costmap2D *	costmap,
		boost::function< bool(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)>	cost_function
	)

Initializes the MapGridVisualizer.

Parameters:

	name	The name to be appended to ~/ in order to get the proper namespace for parameters
	costmap	The costmap instance to use to get the size of the map to generate a point cloud for
	cost_function	The function to use to compute the cost values to be inserted into each point in the output PointCloud as well as whether to include a given point or not

Definition at line 42 of file map_grid_visualizer.cpp.

void base_local_planner::MapGridVisualizer::publishCostCloud ( )

Build and publish a PointCloud if the publish_cost_grid_pc parameter was true. Only include points for which the cost_function at (cx,cy) returns true.

Definition at line 55 of file map_grid_visualizer.cpp.

Member Data Documentation

pcl::PointCloud<MapGridCostPoint> base_local_planner::MapGridVisualizer::cost_cloud_ [private]

Definition at line 74 of file map_grid_visualizer.h.

boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> base_local_planner::MapGridVisualizer::cost_function_ [private]

The function to be used to generate the cost components for the output PointCloud.

Definition at line 70 of file map_grid_visualizer.h.

const costmap_2d::Costmap2D* base_local_planner::MapGridVisualizer::costmap_p_ [private]

The costmap to use to infer the size of the underlying map grid.

Definition at line 72 of file map_grid_visualizer.h.

std::string base_local_planner::MapGridVisualizer::frame_id_ [private]

The frame to assign to the output PointCloud.

Definition at line 69 of file map_grid_visualizer.h.

std::string base_local_planner::MapGridVisualizer::name_ [private]

The name to get parameters relative to.

Definition at line 68 of file map_grid_visualizer.h.

ros::NodeHandle base_local_planner::MapGridVisualizer::ns_nh_ [private]