clear_costmap_recovery::ClearCostmapRecovery Class Reference

A recovery behavior that reverts the navigation stack's costmaps to the static map outside of a user-specified region. More...

#include <clear_costmap_recovery.h>

List of all members.

Public Member Functions
	ClearCostmapRecovery ()
	Constructor, make sure to call initialize in addition to actually initialize the object.
void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS global_costmap, costmap_2d::Costmap2DROS *local_costmap)
	Initialization function for the ClearCostmapRecovery recovery behavior.
void	runBehavior ()
	Run the ClearCostmapRecovery recovery behavior. Reverts the costmap to the static map outside of a user-specified window and clears unknown space around the robot.
Private Attributes
costmap_2d::Costmap2DROS *	global_costmap_
bool	initialized_
costmap_2d::Costmap2DROS *	local_costmap_
std::string	name_
double	reset_distance_
tf::TransformListener *	tf_

Detailed Description

A recovery behavior that reverts the navigation stack's costmaps to the static map outside of a user-specified region.

Definition at line 45 of file clear_costmap_recovery.h.

Constructor & Destructor Documentation

clear_costmap_recovery::ClearCostmapRecovery::ClearCostmapRecovery ( )

Constructor, make sure to call initialize in addition to actually initialize the object.

Parameters:

@return

Definition at line 40 of file clear_costmap_recovery.cpp.

Member Function Documentation

void clear_costmap_recovery::ClearCostmapRecovery::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	global_costmap,
		costmap_2d::Costmap2DROS *	local_costmap
	)

Initialization function for the ClearCostmapRecovery recovery behavior.

Parameters:

	tf	A pointer to a transform listener
	global_costmap	A pointer to the global_costmap used by the navigation stack
	local_costmap	A pointer to the local_costmap used by the navigation stack

Definition at line 43 of file clear_costmap_recovery.cpp.

void clear_costmap_recovery::ClearCostmapRecovery::runBehavior ( )

Run the ClearCostmapRecovery recovery behavior. Reverts the costmap to the static map outside of a user-specified window and clears unknown space around the robot.

Definition at line 63 of file clear_costmap_recovery.cpp.