CostMapCalculation Class Reference

#include <hector_costmap.h>

List of all members.

Public Member Functions
void	callbackElevationMap (const hector_elevation_msgs::ElevationGridConstPtr &elevation_map_msg)
	callbackElevationMap get called if a new elevation map is avaible
void	callbackGridMap (const nav_msgs::OccupancyGridConstPtr &grid_map_msg)
	callbackGridMap get called if a new 2D grid map is avaible
	CostMapCalculation ()
	Default constructor.
void	dynRecParamCallback (hector_costmap::CostMapCalculationConfig &config, uint32_t level)
	dynRecParamCallback This function get called if new parameters has been set with the dynamic reconfigure dialog
void	sysMessageCallback (const std_msgs::String &string)
	sysMessageCallback This function listen to system messages
void	timerCallback (const ros::TimerEvent &event)
	timerCallback publishes periodically a new 2D cost map
void	updateMapParamsCallback (const nav_msgs::MapMetaData &map_meta_data)
	updateMapParamsCallback updates the map meta information if someone has changed it
	~CostMapCalculation ()
	Default deconstructor.
Private Member Functions
bool	calculateCostMap (char map_level)
	This function fuses the elevation and grid map und calculates the 2d cost map.
bool	computeWindowIndices (ros::Time time, double update_radius)
	Computes the indices for the bounding box thats get updated.
Private Attributes
bool	allow_kinect_to_clear_occupied_cells
nav_msgs::OccupancyGrid	cost_map
std::string	cost_map_topic
double	costmap_pub_freq
dynamic_reconfigure::Server < hector_costmap::CostMapCalculationConfig >	dyn_rec_server_
nav_msgs::OccupancyGrid	elevation_cost_map
cv::Mat	elevation_cost_map_
cv::Mat	elevation_map_
cv::Mat	elevation_map_filtered
std::string	elevation_map_topic
int	elevation_zero_level
cv::Mat	grid_map_
nav_msgs::OccupancyGridConstPtr	grid_map_msg_
std::string	grid_map_topic
double	grid_res_z
double	initial_free_cells_radius
tf::TransformListener	listener
std::string	local_map_frame_id
std::string	map_frame_id
int	max_clear_size
double	max_delta_elevation
Eigen::Vector2i	max_index
Eigen::Vector2i	min_index
ros::NodeHandle	nHandle
std::string	paramSysMsgTopic
ros::Publisher	pub_cost_map
bool	received_elevation_map
bool	received_grid_map
ros::Subscriber	sub_elevation_map
ros::Subscriber	sub_grid_map
ros::Subscriber	sub_map_info
ros::Subscriber	sub_sysMessage
ros::Timer	timer
double	update_radius_world
bool	use_elevation_map
bool	use_grid_map
HectorMapTools::CoordinateTransformer < float >	world_map_transform

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Detailed Description

Definition at line 26 of file hector_costmap.h.

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Constructor & Destructor Documentation

CostMapCalculation::CostMapCalculation

(

)

Default constructor.

Definition at line 14 of file hector_costmap.cpp.

CostMapCalculation::~CostMapCalculation

(

)

Default deconstructor.

Definition at line 89 of file hector_costmap.cpp.

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Member Function Documentation

bool CostMapCalculation::calculateCostMap

(

char

map_level

)

[private]

This function fuses the elevation and grid map und calculates the 2d cost map.

Parameters:

[in]

map_level

set the method to calculate the 2d cost map

Return values:

true

if everything went fine, otherwise false

Definition at line 326 of file hector_costmap.cpp.

void CostMapCalculation::callbackElevationMap

(

const hector_elevation_msgs::ElevationGridConstPtr &

elevation_map_msg

)

callbackElevationMap get called if a new elevation map is avaible

Parameters:

[in]

elevation_map_msg

stores elevation map data as a 2.5D grid

Definition at line 197 of file hector_costmap.cpp.

void CostMapCalculation::callbackGridMap

(

const nav_msgs::OccupancyGridConstPtr &

grid_map_msg

)

callbackGridMap get called if a new 2D grid map is avaible

Parameters:

[in]

grid_map_msg

stores 2D grid map data

Definition at line 282 of file hector_costmap.cpp.

bool CostMapCalculation::computeWindowIndices	(	ros::Time	time,
		double	update_radius
	)			[private]

Computes the indices for the bounding box thats get updated.

Parameters:

[in]	time	Current time is needed
[in]	update_radius	determines the size of the bounding box in [m]

Return values:

true

if everything went fine, otherwise false

Definition at line 461 of file hector_costmap.cpp.

void CostMapCalculation::dynRecParamCallback	(	hector_costmap::CostMapCalculationConfig &	config,
		uint32_t	level
	)

dynRecParamCallback This function get called if new parameters has been set with the dynamic reconfigure dialog

Parameters:

[in]	config	contains current parameters
[in]	level	is unused

Definition at line 122 of file hector_costmap.cpp.

void CostMapCalculation::sysMessageCallback

(

const std_msgs::String &

string

)

sysMessageCallback This function listen to system messages

Parameters:

[in]

string

parameter contains system messages, like "reset"

Definition at line 95 of file hector_costmap.cpp.

void CostMapCalculation::timerCallback

(

const ros::TimerEvent &

event

)

timerCallback publishes periodically a new 2D cost map

Parameters:

[in]

event

is unused

Definition at line 182 of file hector_costmap.cpp.

void CostMapCalculation::updateMapParamsCallback

(

const nav_msgs::MapMetaData &

map_meta_data

)

updateMapParamsCallback updates the map meta information if someone has changed it

Parameters:

[in]

map_meta_data

map meta information like grid resolution or origin

Definition at line 144 of file hector_costmap.cpp.

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Member Data Documentation

bool CostMapCalculation::allow_kinect_to_clear_occupied_cells [private]

Definition at line 94 of file hector_costmap.h.

nav_msgs::OccupancyGrid CostMapCalculation::cost_map [private]

Definition at line 100 of file hector_costmap.h.

std::string CostMapCalculation::cost_map_topic [private]

Definition at line 104 of file hector_costmap.h.

double CostMapCalculation::costmap_pub_freq [private]

Definition at line 96 of file hector_costmap.h.

dynamic_reconfigure::Server<hector_costmap::CostMapCalculationConfig> CostMapCalculation::dyn_rec_server_ [private]

Definition at line 82 of file hector_costmap.h.

nav_msgs::OccupancyGrid CostMapCalculation::elevation_cost_map [private]

Definition at line 100 of file hector_costmap.h.

cv::Mat CostMapCalculation::elevation_cost_map_ [private]

Definition at line 102 of file hector_costmap.h.

cv::Mat CostMapCalculation::elevation_map_ [private]

Definition at line 102 of file hector_costmap.h.

cv::Mat CostMapCalculation::elevation_map_filtered [private]

Definition at line 102 of file hector_costmap.h.

std::string CostMapCalculation::elevation_map_topic [private]

Definition at line 104 of file hector_costmap.h.

int CostMapCalculation::elevation_zero_level [private]

Definition at line 92 of file hector_costmap.h.

cv::Mat CostMapCalculation::grid_map_ [private]

Definition at line 102 of file hector_costmap.h.

nav_msgs::OccupancyGridConstPtr CostMapCalculation::grid_map_msg_ [private]

Definition at line 98 of file hector_costmap.h.

std::string CostMapCalculation::grid_map_topic [private]

Definition at line 104 of file hector_costmap.h.

double CostMapCalculation::grid_res_z [private]

Definition at line 91 of file hector_costmap.h.

double CostMapCalculation::initial_free_cells_radius [private]

Definition at line 90 of file hector_costmap.h.

tf::TransformListener CostMapCalculation::listener [private]

Definition at line 84 of file hector_costmap.h.

std::string CostMapCalculation::local_map_frame_id [private]

Definition at line 105 of file hector_costmap.h.

std::string CostMapCalculation::map_frame_id [private]

Definition at line 105 of file hector_costmap.h.

int CostMapCalculation::max_clear_size [private]

Definition at line 95 of file hector_costmap.h.

double CostMapCalculation::max_delta_elevation [private]

Definition at line 93 of file hector_costmap.h.

Eigen::Vector2i CostMapCalculation::max_index [private]

Definition at line 107 of file hector_costmap.h.

Eigen::Vector2i CostMapCalculation::min_index [private]

Definition at line 107 of file hector_costmap.h.

ros::NodeHandle CostMapCalculation::nHandle [private]

Definition at line 73 of file hector_costmap.h.

std::string CostMapCalculation::paramSysMsgTopic [private]

Definition at line 104 of file hector_costmap.h.

ros::Publisher CostMapCalculation::pub_cost_map [private]

Definition at line 75 of file hector_costmap.h.

bool CostMapCalculation::received_elevation_map [private]

Definition at line 94 of file hector_costmap.h.

bool CostMapCalculation::received_grid_map [private]

Definition at line 94 of file hector_costmap.h.

ros::Subscriber CostMapCalculation::sub_elevation_map [private]

Definition at line 77 of file hector_costmap.h.

ros::Subscriber CostMapCalculation::sub_grid_map [private]

Definition at line 78 of file hector_costmap.h.

ros::Subscriber CostMapCalculation::sub_map_info [private]

Definition at line 80 of file hector_costmap.h.

ros::Subscriber CostMapCalculation::sub_sysMessage [private]

Definition at line 79 of file hector_costmap.h.

ros::Timer CostMapCalculation::timer [private]

Definition at line 86 of file hector_costmap.h.

double CostMapCalculation::update_radius_world [private]

Definition at line 90 of file hector_costmap.h.

bool CostMapCalculation::use_elevation_map [private]

Definition at line 94 of file hector_costmap.h.

bool CostMapCalculation::use_grid_map [private]

Definition at line 94 of file hector_costmap.h.

HectorMapTools::CoordinateTransformer<float> CostMapCalculation::world_map_transform [private]

Definition at line 88 of file hector_costmap.h.

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

• hector_costmap.h
• hector_costmap.cpp