base_local_planner: map_grid_visualizer.cpp Source File

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00034 #include <base_local_planner/map_grid_visualizer.h>
00035 #include <base_local_planner/map_cell.h>
00036 #include <vector>
00037 
00038 namespace base_local_planner {
00039   MapGridVisualizer::MapGridVisualizer() {}
00040 
00041 
00042   void 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) {
00043     name_ = name;
00044     costmap_p_ = costmap;
00045     cost_function_ = cost_function;
00046 
00047     ns_nh_ = ros::NodeHandle("~/" + name_);
00048     ns_nh_.param("publish_cost_grid_pc", publish_cost_grid_pc_, false);
00049     ns_nh_.param("global_frame_id", frame_id_, std::string("odom"));
00050 
00051     cost_cloud_.header.frame_id = frame_id_;
00052     pub_.advertise(ns_nh_, "cost_cloud", 1);
00053   }
00054 
00055   void MapGridVisualizer::publishCostCloud() {
00056     if(publish_cost_grid_pc_) {
00057       unsigned int x_size = costmap_p_->getSizeInCellsX();
00058       unsigned int y_size = costmap_p_->getSizeInCellsY();
00059       double z_coord = 0.0;
00060       double x_coord, y_coord;
00061       MapGridCostPoint pt;
00062       cost_cloud_.points.clear();
00063       cost_cloud_.header.stamp = ros::Time::now();
00064       float path_cost, goal_cost, occ_cost, total_cost;
00065       for (unsigned int cx = 0; cx < x_size; cx++) {
00066         for(unsigned int cy = 0; cy < y_size; cy++) {
00067           costmap_p_->mapToWorld(cx, cy, x_coord, y_coord);
00068           if(cost_function_(cx, cy, path_cost, goal_cost, occ_cost, total_cost)) {
00069             pt.x = x_coord;
00070             pt.y = y_coord;
00071             pt.z = z_coord;
00072             pt.path_cost = path_cost;
00073             pt.goal_cost = goal_cost;
00074             pt.occ_cost = occ_cost;
00075             pt.total_cost = total_cost;
00076             cost_cloud_.push_back(pt);
00077           }
00078         }
00079       }
00080       pub_.publish(cost_cloud_);
00081       ROS_DEBUG("Cost PointCloud published");
00082     }
00083   }
00084 };