A 2D costmap provides a mapping between points in the world and their associated "costs". More...

#include <costmap_2d.h>

Inheritance diagram for costmap_2d::Costmap2D:

Classes
class	ClearCell
class	MarkCell
class	PolygonOutlineCells
Public Member Functions
virtual void	clearNonLethal (double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info=false)
	Clears non lethal obstacles in a specified window.
unsigned char	computeCost (double distance) const
	Given a distance... compute a cost.
void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that fill a convex polygon.
void	copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y)
	Turn this costmap into a copy of a window of a costmap passed in.
	Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, double inscribed_radius=0.0, double circumscribed_radius=0.0, double inflation_radius=0.0, double max_obstacle_range=0.0, double max_obstacle_height=0.0, double max_raytrace_range=0.0, double weight=25.0, const std::vector< unsigned char > &static_data=std::vector< unsigned char >(0), unsigned char lethal_threshold=0, bool track_unknown_space=false, unsigned char unknown_cost_value=0)
	Constructor for a costmap.
	Costmap2D (const Costmap2D &map)
	Copy constructor for a costmap, creates a copy efficiently.
	Costmap2D ()
	Default constructor.
virtual void	finishConfiguration (costmap_2d::Costmap2DConfig &config)
const unsigned char *	getCharMap () const
	Will return a immutable pointer to the underlying unsigned char array used as the costmap.
unsigned char	getCircumscribedCost () const
double	getCircumscribedRadius () const
	Accessor for the circumscribed radius of the robot.
unsigned char	getCost (unsigned int mx, unsigned int my) const
	Get the cost of a cell in the costmap.
unsigned int	getIndex (unsigned int mx, unsigned int my) const
	Given two map coordinates... compute the associated index.
double	getInflationRadius () const
	Accessor for the inflation radius of the robot.
double	getInscribedRadius () const
	Accessor for the inscribed radius of the robot.
double	getOriginX () const
	Accessor for the x origin of the costmap.
double	getOriginY () const
	Accessor for the y origin of the costmap.
double	getResolution () const
	Accessor for the resolution of the costmap.
unsigned int	getSizeInCellsX () const
	Accessor for the x size of the costmap in cells.
unsigned int	getSizeInCellsY () const
	Accessor for the y size of the costmap in cells.
double	getSizeInMetersX () const
	Accessor for the x size of the costmap in meters.
double	getSizeInMetersY () const
	Accessor for the y size of the costmap in meters.
void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const
	Given an index... compute the associated map coordinates.
bool	isCircumscribedCell (unsigned int x, unsigned int y) const
	Check if a cell falls within the circumscribed radius of the robot but outside the inscribed radius of the robot.
void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const
	Convert from map coordinates to world coordinates.
Costmap2D &	operator= (const Costmap2D &map)
	Overloaded assignment operator.
void	polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that make up the outline of a polygon.
void	reconfigure (costmap_2d::Costmap2DConfig &config, const costmap_2d::Costmap2DConfig &last_config)
void	reinflateWindow (double wx, double wy, double w_size_x, double w_size_y, bool clear=true)
	Re-inflate obstacles within a given window.
void	replaceFullMap (double win_origin_x, double win_origin_y, unsigned int data_size_x, unsigned int data_size_y, const std::vector< unsigned char > &static_data)
	Replace the costmap with a map of a different size.
virtual void	resetMapOutsideWindow (double wx, double wy, double w_size_x, double w_size_y)
	Revert to the static map outside of a specified window centered at a world coordinate.
void	saveMap (std::string file_name)
	Save the costmap out to a pgm file.
void	saveRawMap (std::string file_name)
	Save the RAW costmap out to a pgm file using the original byte values.
bool	setConvexPolygonCost (const std::vector< geometry_msgs::Point > &polygon, unsigned char cost_value)
	Sets the cost of a convex polygon to a desired value.
void	setCost (unsigned int mx, unsigned int my, unsigned char cost)
	Set the cost of a cell in the costmap.
virtual void	updateOrigin (double new_origin_x, double new_origin_y)
	Move the origin of the costmap to a new location.... keeping data when it can.
void	updateStaticMapWindow (double win_origin_x, double win_origin_y, unsigned int data_size_x, unsigned int data_size_y, const std::vector< unsigned char > &static_data)
	Update the costmap's static map with new data.
void	updateWorld (double robot_x, double robot_y, const std::vector< Observation > &observations, const std::vector< Observation > &clearing_observations)
	Update the costmap with new observations.
bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const
	Convert from world coordinates to map coordinates.
void	worldToMapNoBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates without checking for legal bounds.
virtual	~Costmap2D ()
	Destructor.
Protected Member Functions
unsigned int	cellDistance (double world_dist)
	Given distance in the world... convert it to cells.
void	copyKernels (const Costmap2D &map, unsigned int cell_inflation_radius)
	Copies kernel information from a costmap.
template<typename data_type >
void	copyMapRegion (data_type source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, unsigned int sm_size_x, data_type dest_map, unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int region_size_y)
	Copy a region of a source map into a destination map.
void	deleteKernels ()
	Deletes the cached kernels.
virtual void	deleteMaps ()
	Deletes the costmap, static_map, and markers data structures.
void	enqueue (unsigned int index, unsigned int mx, unsigned int my, unsigned int src_x, unsigned int src_y, std::priority_queue< CellData > &inflation_queue)
	Given an index of a cell in the costmap, place it into a priority queue for obstacle inflation.
virtual void	initMaps (unsigned int size_x, unsigned int size_y)
	Initializes the costmap, static_map, and markers data structures.
void	replaceStaticMapWindow (double win_origin_x, double win_origin_y, unsigned int data_size_x, unsigned int data_size_y, const std::vector< unsigned char > &static_data)
	Replace a window of the costmap with static data.
virtual void	resetMaps ()
	Resets the costmap and static_map to be unknown space.
void	reshapeStaticMap (double win_origin_x, double win_origin_y, unsigned int data_size_x, unsigned int data_size_y, const std::vector< unsigned char > &static_data)
	Reshape a map to take an update that is not fully contained within the costmap.
Protected Attributes
unsigned char **	cached_costs_
double **	cached_distances_
unsigned int	cell_circumscribed_radius_
unsigned int	cell_inflation_radius_
double	cell_inscribed_radius_
unsigned char	circumscribed_cost_lb_
double	circumscribed_radius_
unsigned char *	costmap_
std::priority_queue< CellData >	inflation_queue_
double	inflation_radius_
double	inscribed_radius_
unsigned char	lethal_threshold_
unsigned char *	markers_
double	max_obstacle_height_
double	max_obstacle_range_
double	max_raytrace_range_
double	origin_x_
double	origin_y_
double	resolution_
unsigned int	size_x_
unsigned int	size_y_
unsigned char *	static_map_
bool	track_unknown_space_
unsigned char	unknown_cost_value_
double	weight_
Private Member Functions
template<class ActionType >
void	bresenham2D (ActionType at, unsigned int abs_da, unsigned int abs_db, int error_b, int offset_a, int offset_b, unsigned int offset, unsigned int max_length)
	A 2D implementation of Bresenham's raytracing algorithm... applies an action at each step.
void	computeCaches ()
	Based on the inflation radius compute distance and cost caches.
char	costLookup (int mx, int my, int src_x, int src_y)
	Lookup pre-computed costs.
double	distanceLookup (int mx, int my, int src_x, int src_y)
	Lookup pre-computed distances.
void	inflateObstacles (std::priority_queue< CellData > &inflation_queue)
	Given a priority queue with the actual obstacles, compute the inflated costs for the costmap.
void	raytraceFreespace (const std::vector< Observation > &clearing_observations)
	Clear freespace based on any number of observations.
virtual void	raytraceFreespace (const Observation &clearing_observation)
	Clear freespace from an observation.
template<class ActionType >
void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX)
	Raytrace a line and apply some action at each step.
void	resetInflationWindow (double wx, double wy, double w_size_x, double w_size_y, std::priority_queue< CellData > &inflation_queue, bool clear=true)
	Provides support for re-inflating obstacles within a certain window (used after raytracing)
int	sign (int x)
void	updateCellCost (unsigned int index, unsigned char cost)
	Takes the max of existing cost and the new cost... keeps static map obstacles from being overridden prematurely.
virtual void	updateObstacles (const std::vector< Observation > &observations, std::priority_queue< CellData > &inflation_queue)
	Insert new obstacles into the cost map.
Private Attributes
boost::recursive_mutex	configuration_mutex_
Friends
class	CostmapTester

Detailed Description

A 2D costmap provides a mapping between points in the world and their associated "costs".

Definition at line 61 of file costmap_2d.h.

Constructor & Destructor Documentation

costmap_2d::Costmap2D::Costmap2D	(	unsigned int	cells_size_x,
		unsigned int	cells_size_y,
		double	resolution,
		double	origin_x,
		double	origin_y,
		double	inscribed_radius = `0.0`,
		double	circumscribed_radius = `0.0`,
		double	inflation_radius = `0.0`,
		double	max_obstacle_range = `0.0`,
		double	max_obstacle_height = `0.0`,
		double	max_raytrace_range = `0.0`,
		double	weight = `25.0`,
		const std::vector< unsigned char > &	static_data = `std::vector<unsigned char>(0)`,
		unsigned char	lethal_threshold = `0`,
		bool	track_unknown_space = `false`,
		unsigned char	unknown_cost_value = `0`
	)

Constructor for a costmap.

Parameters:

cells_size_x	The x size of the map in cells
cells_size_y	The y size of the map in cells
resolution	The resolution of the map in meters/cell
origin_x	The x origin of the map
origin_y	The y origin of the map
inscribed_radius	The inscribed radius of the robot
circumscribed_radius	The circumscribed radius of the robot
inflation_radius	How far out to inflate obstacles
max_obstacle_range	The maximum range at which obstacles will be put into the costmap from any sensor
max_obstacle_height	The maximum height of obstacles that will be considered
max_raytrace_range	The maximum distance we'll raytrace out to with any sensor
weight	The scaling factor for the cost function.
static_data	Data used to initialize the costmap
lethal_threshold	The cost threshold at which a point in the static data is considered a lethal obstacle
track_unknown_space	Whether or not to keep track of what space is completely unknown, whether or not a sensor reading has seen through a cell
unknown_cost_value	The cost value for which a point in the static data is considered unknown when tracking unknown space... if not tracking unknown space, costs equal to this value will be considered occupied

Definition at line 47 of file costmap_2d.cpp.

costmap_2d::Costmap2D::Costmap2D ( const Costmap2D & map )

Copy constructor for a costmap, creates a copy efficiently.

Parameters:

map	The costmap to copy

Definition at line 513 of file costmap_2d.cpp.

costmap_2d::Costmap2D::Costmap2D ( )

Default constructor.

Definition at line 518 of file costmap_2d.cpp.

costmap_2d::Costmap2D::~Costmap2D ( ) [virtual]

Destructor.

Definition at line 521 of file costmap_2d.cpp.

Member Function Documentation

template<class ActionType >

void costmap_2d::Costmap2D::bresenham2D	(	ActionType	at,
		unsigned int	abs_da,
		unsigned int	abs_db,
		int	error_b,
		int	offset_a,
		int	offset_b,
		unsigned int	offset,
		unsigned int	max_length
	)		`[inline, private]`

A 2D implementation of Bresenham's raytracing algorithm... applies an action at each step.

Definition at line 602 of file costmap_2d.h.

unsigned int costmap_2d::Costmap2D::cellDistance ( double world_dist ) [protected]

Given distance in the world... convert it to cells.

Parameters:

world_dist The world distance

Returns:: The equivalent cell distance

Definition at line 526 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::clearNonLethal	(	double	wx,
		double	wy,
		double	w_size_x,
		double	w_size_y,
		bool	clear_no_info = `false`
	)		`[virtual]`

Clears non lethal obstacles in a specified window.

Parameters:

wx	The x coordinate of the center point of the window in world space (meters)
wy	The y coordinate of the center point of the window in world space (meters)
w_size_x	The x size of the window in meters
w_size_y	The y size of the window in meters
clear_no_info	If set to true, NO_INFORMATION will be cleared, if set to false NO_INFORMATION will be treated as a lethal obstacle

Reimplemented in costmap_2d::VoxelCostmap2D.

Definition at line 797 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::computeCaches ( ) [private]

Based on the inflation radius compute distance and cost caches.

Definition at line 888 of file costmap_2d.cpp.

unsigned char costmap_2d::Costmap2D::computeCost ( double distance ) const [inline]

Given a distance... compute a cost.

Parameters:

distance The distance from an obstacle in cells

Returns:: A cost value for the distance

Definition at line 341 of file costmap_2d.h.

void costmap_2d::Costmap2D::convexFillCells	(	const std::vector< MapLocation > &	polygon,
		std::vector< MapLocation > &	polygon_cells
	)

Get the map cells that fill a convex polygon.

Parameters:

polygon	The polygon in map coordinates to rasterize
polygon_cells	Will be set to the cells that fill the polygon

Definition at line 989 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::copyCostmapWindow	(	const Costmap2D &	map,
		double	win_origin_x,
		double	win_origin_y,
		double	win_size_x,
		double	win_size_y
	)

Turn this costmap into a copy of a window of a costmap passed in.

Parameters:

map	The costmap to copy
win_origin_x	The x origin (lower left corner) for the window to copy, in meters
win_origin_y	The y origin (lower left corner) for the window to copy, in meters
win_size_x	The x size of the window, in meters
win_size_y	The y size of the window, in meters

Definition at line 406 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::copyKernels	(	const Costmap2D &	map,
		unsigned int	cell_inflation_radius
	)		`[protected]`

Copies kernel information from a costmap.

Parameters:

map	The costmap to copy kernel information from
cell_inflation_radius	The radius to use when copying the kernel

Definition at line 393 of file costmap_2d.cpp.

template<typename data_type >

void costmap_2d::Costmap2D::copyMapRegion	(	data_type *	source_map,
		unsigned int	sm_lower_left_x,
		unsigned int	sm_lower_left_y,
		unsigned int	sm_size_x,
		data_type *	dest_map,
		unsigned int	dm_lower_left_x,
		unsigned int	dm_lower_left_y,
		unsigned int	dm_size_x,
		unsigned int	region_size_x,
		unsigned int	region_size_y
	)		`[inline, protected]`

Copy a region of a source map into a destination map.

Parameters:

source_map	The source map
sm_lower_left_x	The lower left x point of the source map to start the copy
sm_lower_left_y	The lower left y point of the source map to start the copy
sm_size_x	The x size of the source map
dest_map	The destination map
dm_lower_left_x	The lower left x point of the destination map to start the copy
dm_lower_left_y	The lower left y point of the destination map to start the copy
dm_size_x	The x size of the destination map
region_size_x	The x size of the region to copy
region_size_y	The y size of the region to copy
data_size	The size of the data-type stored in the map arrays

Definition at line 448 of file costmap_2d.h.

char costmap_2d::Costmap2D::costLookup	(	int	mx,
		int	my,
		int	src_x,
		int	src_y
	)		`[inline, private]`

Lookup pre-computed costs.

Parameters:

mx	The x coordinate of the current cell
my	The y coordinate of the current cell
src_x	The x coordinate of the source cell
src_y	The y coordinate of the source cell

Returns:

Definition at line 644 of file costmap_2d.h.

void costmap_2d::Costmap2D::deleteKernels ( ) [protected]

Deletes the cached kernels.

Definition at line 356 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::deleteMaps ( ) [protected, virtual]

Deletes the costmap, static_map, and markers data structures.

Definition at line 349 of file costmap_2d.cpp.

double costmap_2d::Costmap2D::distanceLookup	(	int	mx,
		int	my,
		int	src_x,
		int	src_y
	)		`[inline, private]`

Lookup pre-computed distances.

Parameters:

mx	The x coordinate of the current cell
my	The y coordinate of the current cell
src_x	The x coordinate of the source cell
src_y	The y coordinate of the source cell

Returns:

Definition at line 658 of file costmap_2d.h.

void costmap_2d::Costmap2D::enqueue	(	unsigned int	index,
		unsigned int	mx,
		unsigned int	my,
		unsigned int	src_x,
		unsigned int	src_y,
		std::priority_queue< CellData > &	inflation_queue
	)		`[inline, protected]`

Given an index of a cell in the costmap, place it into a priority queue for obstacle inflation.

Parameters:

index	The index of the cell
mx	The x coordinate of the cell (can be computed from the index, but saves time to store it)
my	The y coordinate of the cell (can be computed from the index, but saves time to store it)
src_x	The x index of the obstacle point inflation started at
src_y	The y index of the obstacle point inflation started at
inflation_queue	The priority queue to insert into

Definition at line 411 of file costmap_2d.h.

void costmap_2d::Costmap2D::finishConfiguration ( costmap_2d::Costmap2DConfig & config ) [virtual]

Reimplemented in costmap_2d::VoxelCostmap2D.

Definition at line 149 of file costmap_2d.cpp.

const unsigned char * costmap_2d::Costmap2D::getCharMap ( ) const

Will return a immutable pointer to the underlying unsigned char array used as the costmap.

Returns:: A pointer to the underlying unsigned char array storing cost values

Definition at line 531 of file costmap_2d.cpp.

unsigned char costmap_2d::Costmap2D::getCircumscribedCost ( ) const [inline]

Definition at line 360 of file costmap_2d.h.

double costmap_2d::Costmap2D::getCircumscribedRadius ( ) const [inline]

Accessor for the circumscribed radius of the robot.

Returns:: The circumscribed radius

Definition at line 289 of file costmap_2d.h.

unsigned char costmap_2d::Costmap2D::getCost	(	unsigned int	mx,
		unsigned int	my
	)		const

Get the cost of a cell in the costmap.

Parameters:

mx	The x coordinate of the cell
my	The y coordinate of the cell

Returns:: The cost of the cell

Definition at line 535 of file costmap_2d.cpp.

unsigned int costmap_2d::Costmap2D::getIndex	(	unsigned int	mx,
		unsigned int	my
	)		const `[inline]`

Given two map coordinates... compute the associated index.

Parameters:

mx	The x coordinate
my	The y coordinate

Returns:: The associated index

Definition at line 216 of file costmap_2d.h.

double costmap_2d::Costmap2D::getInflationRadius ( ) const [inline]

Accessor for the inflation radius of the robot.

Returns:: The inflation radius

Definition at line 295 of file costmap_2d.h.

double costmap_2d::Costmap2D::getInscribedRadius ( ) const [inline]

Accessor for the inscribed radius of the robot.

Returns:: The inscribed radius

Definition at line 283 of file costmap_2d.h.

double costmap_2d::Costmap2D::getOriginX ( ) const

Accessor for the x origin of the costmap.

Returns:: The x origin of the costmap

Definition at line 1069 of file costmap_2d.cpp.

double costmap_2d::Costmap2D::getOriginY ( ) const

Accessor for the y origin of the costmap.

Returns:: The y origin of the costmap

Definition at line 1073 of file costmap_2d.cpp.

double costmap_2d::Costmap2D::getResolution ( ) const

Accessor for the resolution of the costmap.

Returns:: The resolution of the costmap

Definition at line 1077 of file costmap_2d.cpp.

unsigned int costmap_2d::Costmap2D::getSizeInCellsX ( ) const

Accessor for the x size of the costmap in cells.

Returns:: The x size of the costmap

Definition at line 1053 of file costmap_2d.cpp.

unsigned int costmap_2d::Costmap2D::getSizeInCellsY ( ) const

Accessor for the y size of the costmap in cells.

Returns:: The y size of the costmap

Definition at line 1057 of file costmap_2d.cpp.

double costmap_2d::Costmap2D::getSizeInMetersX ( ) const

Accessor for the x size of the costmap in meters.

Returns:: The x size of the costmap (returns the centerpoint of the last legal cell in the map)

Definition at line 1061 of file costmap_2d.cpp.

double costmap_2d::Costmap2D::getSizeInMetersY ( ) const

Accessor for the y size of the costmap in meters.

Returns:: The y size of the costmap (returns the centerpoint of the last legal cell in the map)

Definition at line 1065 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::indexToCells	(	unsigned int	index,
		unsigned int &	mx,
		unsigned int &	my
	)		const `[inline]`

Given an index... compute the associated map coordinates.

Parameters:

index	The index
mx	Will be set to the x coordinate
my	Will be set to the y coordinate

Definition at line 226 of file costmap_2d.h.

void costmap_2d::Costmap2D::inflateObstacles ( std::priority_queue< CellData > & inflation_queue ) [private]

Given a priority queue with the actual obstacles, compute the inflated costs for the costmap.

Parameters:

inflation_queue A priority queue contatining the cell data for the actual obstacles

Definition at line 697 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::initMaps	(	unsigned int	size_x,
		unsigned int	size_y
	)		`[protected, virtual]`

Initializes the costmap, static_map, and markers data structures.

Parameters:

size_x	The x size to use for map initialization
size_y	The y size to use for map initialization

Reimplemented in costmap_2d::VoxelCostmap2D.

Definition at line 372 of file costmap_2d.cpp.

bool costmap_2d::Costmap2D::isCircumscribedCell	(	unsigned int	x,
		unsigned int	y
	)		const

Check if a cell falls within the circumscribed radius of the robot but outside the inscribed radius of the robot.

Parameters:

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

Returns:: True if the cell is inside the circumscribed radius but outside the inscribed radius, false otherwise

Definition at line 1081 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::mapToWorld	(	unsigned int	mx,
		unsigned int	my,
		double &	wx,
		double &	wy
	)		const

Convert from map coordinates to world coordinates.

Parameters:

mx	The x map coordinate
my	The y map coordinate
wx	Will be set to the associated world x coordinate
wy	Will be set to the associated world y coordinate

Definition at line 545 of file costmap_2d.cpp.

Costmap2D & costmap_2d::Costmap2D::operator= ( const Costmap2D & map )

Overloaded assignment operator.

Parameters:

map	The costmap to copy

Returns:: A reference to the map after the copy has finished

Definition at line 465 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::polygonOutlineCells	(	const std::vector< MapLocation > &	polygon,
		std::vector< MapLocation > &	polygon_cells
	)

Get the map cells that make up the outline of a polygon.

Parameters:

polygon	The polygon in map coordinates to rasterize
polygon_cells	Will be set to the cells contained in the outline of the polygon

Definition at line 977 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::raytraceFreespace ( const std::vector< Observation > & clearing_observations ) [private]

Clear freespace based on any number of observations.

Parameters:

clearing_observations The observations used to raytrace

Definition at line 724 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::raytraceFreespace ( const Observation & clearing_observation ) [private, virtual]

Clear freespace from an observation.

Parameters:

clearing_observation The observation used to raytrace

Reimplemented in costmap_2d::VoxelCostmap2D.

Definition at line 730 of file costmap_2d.cpp.

template<class ActionType >

void costmap_2d::Costmap2D::raytraceLine	(	ActionType	at,
		unsigned int	x0,
		unsigned int	y0,
		unsigned int	x1,
		unsigned int	y1,
		unsigned int	max_length = `UINT_MAX`
	)		`[inline, private]`

Raytrace a line and apply some action at each step.

Parameters:

at	The action to take... a functor
x0	The starting x coordinate
y0	The starting y coordinate
x1	The ending x coordinate
y1	The ending y coordinate
max_length	The maximum desired length of the segment... allows you to not go all the way to the endpoint

Definition at line 569 of file costmap_2d.h.

void costmap_2d::Costmap2D::reconfigure	(	costmap_2d::Costmap2DConfig &	config,
		const costmap_2d::Costmap2DConfig &	last_config
	)

Definition at line 118 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::reinflateWindow	(	double	wx,
		double	wy,
		double	w_size_x,
		double	w_size_y,
		bool	clear = `true`
	)

Re-inflate obstacles within a given window.

Parameters:

wx	The x coordinate of the center point of the window in world space (meters)
wy	The y coordinate of the center point of the window in world space (meters)
w_size_x	The x size of the window in meters
w_size_y	The y size of the window in meters
clear	When set to true, will clear all non-lethal obstacles before inflation

Definition at line 638 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::replaceFullMap	(	double	win_origin_x,
		double	win_origin_y,
		unsigned int	data_size_x,
		unsigned int	data_size_y,
		const std::vector< unsigned char > &	static_data
	)

Replace the costmap with a map of a different size.

Parameters:

win_origin_x	The x origin of the map we'll be using to replace the costmap
win_origin_y	The y origin of the map we'll be using to replace the costmap
data_size_x	The x size of the map we'll be using to replace the costmap
data_size_y	The y size of the map we'll be using to replace the costmap
static_data	The data that we'll use for our new costmap

Definition at line 152 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::replaceStaticMapWindow	(	double	win_origin_x,
		double	win_origin_y,
		unsigned int	data_size_x,
		unsigned int	data_size_y,
		const std::vector< unsigned char > &	static_data
	)		`[protected]`

Replace a window of the costmap with static data.

Parameters:

win_origin_x	The x origin of the map we'll be using to replace the costmap
win_origin_y	The y origin of the map we'll be using to replace the costmap
data_size_x	The x size of the map we'll be using to replace the costmap
data_size_y	The y size of the map we'll be using to replace the costmap
static_data	The data that we'll use for our new costmap

Definition at line 205 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::resetInflationWindow	(	double	wx,
		double	wy,
		double	w_size_x,
		double	w_size_y,
		std::priority_queue< CellData > &	inflation_queue,
		bool	clear = `true`
	)		`[private]`

Provides support for re-inflating obstacles within a certain window (used after raytracing)

Parameters:

wx	The x coordinate of the center point of the window in world space (meters)
wy	The y coordinate of the center point of the window in world space (meters)
w_size_x	The x size of the window in meters
w_size_y	The y size of the window in meters
inflation_queue	The priority queue to push items back onto for propogation
clear	When set to true, will clear all non-lethal obstacles before inflation

Definition at line 841 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::resetMapOutsideWindow	(	double	wx,
		double	wy,
		double	w_size_x,
		double	w_size_y
	)		`[virtual]`

Revert to the static map outside of a specified window centered at a world coordinate.

Parameters:

wx	The x coordinate of the center point of the window in world space (meters)
wy	The y coordinate of the center point of the window in world space (meters)
w_size_x	The x size of the window in meters
w_size_y	The y size of the window in meters

Reimplemented in costmap_2d::VoxelCostmap2D.

Definition at line 568 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::resetMaps ( ) [protected, virtual]

Resets the costmap and static_map to be unknown space.

Reimplemented in costmap_2d::VoxelCostmap2D.

Definition at line 381 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::reshapeStaticMap	(	double	win_origin_x,
		double	win_origin_y,
		unsigned int	data_size_x,
		unsigned int	data_size_y,
		const std::vector< unsigned char > &	static_data
	)		`[protected]`

Reshape a map to take an update that is not fully contained within the costmap.

Parameters:

win_origin_x	The x origin of the map we'll be using to replace the costmap
win_origin_y	The y origin of the map we'll be using to replace the costmap
data_size_x	The x size of the map we'll be using to replace the costmap
data_size_y	The y size of the map we'll be using to replace the costmap
static_data	The data that we'll use for our new costmap

Definition at line 275 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::saveMap ( std::string file_name )

Save the costmap out to a pgm file.

Parameters:

file_name The name of the file to save

Definition at line 1088 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::saveRawMap ( std::string file_name )

Save the RAW costmap out to a pgm file using the original byte values.

Parameters:

file_name The name of the file to save, including extension.

Definition at line 1121 of file costmap_2d.cpp.

bool costmap_2d::Costmap2D::setConvexPolygonCost	(	const std::vector< geometry_msgs::Point > &	polygon,
		unsigned char	cost_value
	)

Sets the cost of a convex polygon to a desired value.

Parameters:

polygon	The polygon to perform the operation on
cost_value	The value to set costs to

Returns:: True if the polygon was filled... false if it could not be filled

Definition at line 952 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::setCost	(	unsigned int	mx,
		unsigned int	my,
		unsigned char	cost
	)

Set the cost of a cell in the costmap.

Parameters:

mx	The x coordinate of the cell
my	The y coordinate of the cell
cost	The cost to set the cell to

Definition at line 540 of file costmap_2d.cpp.

int costmap_2d::Costmap2D::sign ( int x ) [inline, private]

Definition at line 664 of file costmap_2d.h.

void costmap_2d::Costmap2D::updateCellCost	(	unsigned int	index,
		unsigned char	cost
	)		`[inline, private]`

Takes the max of existing cost and the new cost... keeps static map obstacles from being overridden prematurely.

Parameters:

index	The index od the cell to assign a cost to
cost	The cost

Definition at line 628 of file costmap_2d.h.

void costmap_2d::Costmap2D::updateObstacles	(	const std::vector< Observation > &	observations,
		std::priority_queue< CellData > &	inflation_queue
	)		`[private, virtual]`

Insert new obstacles into the cost map.

Parameters:

obstacles	The point clouds of obstacles to insert into the map
inflation_queue	The queue to place the obstacles into for inflation

Reimplemented in costmap_2d::VoxelCostmap2D.

Definition at line 654 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::updateOrigin	(	double	new_origin_x,
		double	new_origin_y
	)		`[virtual]`

Move the origin of the costmap to a new location.... keeping data when it can.

Parameters:

new_origin_x	The x coordinate of the new origin
new_origin_y	The y coordinate of the new origin

Reimplemented in costmap_2d::VoxelCostmap2D.

Definition at line 902 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::updateStaticMapWindow	(	double	win_origin_x,
		double	win_origin_y,
		unsigned int	data_size_x,
		unsigned int	data_size_y,
		const std::vector< unsigned char > &	static_data
	)

Update the costmap's static map with new data.

Parameters:

win_origin_x	The x origin of the map we'll be using to replace the static map in meters
win_origin_y	The y origin of the map we'll be using to replace the static map in meters
data_size_x	The x size of the map we'll be using to replace the static map in cells
data_size_y	The y size of the map we'll be using to replace the static map in cells
static_data	The data that we'll use for our new costmap

Definition at line 322 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::updateWorld	(	double	robot_x,
		double	robot_y,
		const std::vector< Observation > &	observations,
		const std::vector< Observation > &	clearing_observations
	)