Public Member Functions | Static Public Member Functions | Public Attributes | Private Attributes
base_local_planner::MapGrid Class Reference

A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller. More...

#include <map_grid.h>

List of all members.

Public Member Functions

void commonInit ()
 Utility to share initialization code across constructors.
void computeGoalDistance (std::queue< MapCell * > &dist_queue, const costmap_2d::Costmap2D &costmap)
 Compute the distance from each cell in the local map grid to the local goal point.
void computeTargetDistance (std::queue< MapCell * > &dist_queue, const costmap_2d::Costmap2D &costmap)
 Compute the distance from each cell in the local map grid to the planned path.
MapCellgetCell (unsigned int x, unsigned int y)
size_t getIndex (int x, int y)
 Returns a 1D index into the MapCell array for a 2D index.
 MapGrid ()
 Creates a 0x0 map by default.
 MapGrid (unsigned int size_x, unsigned int size_y)
 Creates a map of size_x by size_y.
 MapGrid (const MapGrid &mg)
 Copy constructor for a MapGrid.
double obstacleCosts ()
MapCelloperator() (unsigned int x, unsigned int y)
 Returns a map cell accessed by (col, row)
MapCell operator() (unsigned int x, unsigned int y) const
 Returns a map cell accessed by (col, row)
MapGridoperator= (const MapGrid &mg)
 Assignment operator for a MapGrid.
void resetPathDist ()
 reset path distance fields for all cells
void setLocalGoal (const costmap_2d::Costmap2D &costmap, const std::vector< geometry_msgs::PoseStamped > &global_plan)
 Update what cell is considered the next local goal.
void setTargetCells (const costmap_2d::Costmap2D &costmap, const std::vector< geometry_msgs::PoseStamped > &global_plan)
 Update what cells are considered path based on the global plan.
void sizeCheck (unsigned int size_x, unsigned int size_y)
 check if we need to resize
double unreachableCellCosts ()
bool updatePathCell (MapCell *current_cell, MapCell *check_cell, const costmap_2d::Costmap2D &costmap)
 Used to update the distance of a cell in path distance computation.
 ~MapGrid ()
 Destructor for a MapGrid.

Static Public Member Functions

static void adjustPlanResolution (const std::vector< geometry_msgs::PoseStamped > &global_plan_in, std::vector< geometry_msgs::PoseStamped > &global_plan_out, double resolution)

Public Attributes

double goal_x_
double goal_y_
 The goal distance was last computed from.
unsigned int size_x_
unsigned int size_y_
 The dimensions of the grid.

Private Attributes

std::vector< MapCellmap_
 Storage for the MapCells.

Detailed Description

A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller.

Definition at line 52 of file map_grid.h.


Constructor & Destructor Documentation

Creates a 0x0 map by default.

Definition at line 40 of file map_grid.cpp.

base_local_planner::MapGrid::MapGrid ( unsigned int  size_x,
unsigned int  size_y 
)

Creates a map of size_x by size_y.

Parameters:
size_xThe width of the map
size_yThe height of the map

Definition at line 45 of file map_grid.cpp.

Destructor for a MapGrid.

Definition at line 94 of file map_grid.h.

Copy constructor for a MapGrid.

Parameters:
mgThe MapGrid to copy

Definition at line 51 of file map_grid.cpp.


Member Function Documentation

void base_local_planner::MapGrid::adjustPlanResolution ( const std::vector< geometry_msgs::PoseStamped > &  global_plan_in,
std::vector< geometry_msgs::PoseStamped > &  global_plan_out,
double  resolution 
) [static]

increase global plan resolution to match that of the costmap by adding points linearly between global plan points This is necessary where global planners produce plans with few points.

Parameters:
global_plan_ininput
global_plan_outputoutput
resolutiondesired distance between waypoints

Definition at line 133 of file map_grid.cpp.

Utility to share initialization code across constructors.

Definition at line 57 of file map_grid.cpp.

void base_local_planner::MapGrid::computeGoalDistance ( std::queue< MapCell * > &  dist_queue,
const costmap_2d::Costmap2D costmap 
)

Compute the distance from each cell in the local map grid to the local goal point.

Parameters:
goal_queueA queue containing the local goal cell
void base_local_planner::MapGrid::computeTargetDistance ( std::queue< MapCell * > &  dist_queue,
const costmap_2d::Costmap2D costmap 
)

Compute the distance from each cell in the local map grid to the planned path.

Parameters:
dist_queueA queue of the initial cells on the path

Definition at line 256 of file map_grid.cpp.

MapCell& base_local_planner::MapGrid::getCell ( unsigned int  x,
unsigned int  y 
) [inline]

Definition at line 87 of file map_grid.h.

size_t base_local_planner::MapGrid::getIndex ( int  x,
int  y 
)

Returns a 1D index into the MapCell array for a 2D index.

Parameters:
xThe desired x coordinate
yThe desired y coordinate
Returns:
The associated 1D index

Definition at line 73 of file map_grid.cpp.

return a value that indicates cell is in obstacle

Definition at line 136 of file map_grid.h.

MapCell& base_local_planner::MapGrid::operator() ( unsigned int  x,
unsigned int  y 
) [inline]

Returns a map cell accessed by (col, row)

Parameters:
xThe x coordinate of the cell
yThe y coordinate of the cell
Returns:
A reference to the desired cell

Definition at line 73 of file map_grid.h.

MapCell base_local_planner::MapGrid::operator() ( unsigned int  x,
unsigned int  y 
) const [inline]

Returns a map cell accessed by (col, row)

Parameters:
xThe x coordinate of the cell
yThe y coordinate of the cell
Returns:
A copy of the desired cell

Definition at line 83 of file map_grid.h.

MapGrid & base_local_planner::MapGrid::operator= ( const MapGrid mg)

Assignment operator for a MapGrid.

Parameters:
mgThe MapGrid to assign from

Definition at line 77 of file map_grid.cpp.

reset path distance fields for all cells

Definition at line 125 of file map_grid.cpp.

void base_local_planner::MapGrid::setLocalGoal ( const costmap_2d::Costmap2D costmap,
const std::vector< geometry_msgs::PoseStamped > &  global_plan 
)

Update what cell is considered the next local goal.

Definition at line 211 of file map_grid.cpp.

void base_local_planner::MapGrid::setTargetCells ( const costmap_2d::Costmap2D costmap,
const std::vector< geometry_msgs::PoseStamped > &  global_plan 
)

Update what cells are considered path based on the global plan.

Definition at line 172 of file map_grid.cpp.

void base_local_planner::MapGrid::sizeCheck ( unsigned int  size_x,
unsigned int  size_y 
)

check if we need to resize

Parameters:
size_xThe desired width
size_yThe desired height

Definition at line 84 of file map_grid.cpp.

returns a value indicating cell was not reached by wavefront propagation of set cells. (is behind walls, regarding the region covered by grid)

Definition at line 144 of file map_grid.h.

bool base_local_planner::MapGrid::updatePathCell ( MapCell current_cell,
MapCell check_cell,
const costmap_2d::Costmap2D costmap 
) [inline]

Used to update the distance of a cell in path distance computation.

Parameters:
current_cellThe cell we're currently in
check_cellThe cell to be updated

Definition at line 103 of file map_grid.cpp.


Member Data Documentation

Definition at line 189 of file map_grid.h.

The goal distance was last computed from.

Definition at line 189 of file map_grid.h.

Storage for the MapCells.

Definition at line 195 of file map_grid.h.

Definition at line 191 of file map_grid.h.

The dimensions of the grid.

Definition at line 191 of file map_grid.h.


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


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:09