clear_costmap_recovery.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef CLEAR_COSTMAP_RECOVERY_H_
00038 #define CLEAR_COSTMAP_RECOVERY_H_
00039 #include <nav_core/recovery_behavior.h>
00040 #include <costmap_2d/costmap_2d_ros.h>
00041 #include <tf/transform_listener.h>
00042 #include <ros/ros.h>
00043 #include <costmap_2d/costmap_layer.h>
00044 
00045 namespace clear_costmap_recovery{
00050   class ClearCostmapRecovery : public nav_core::RecoveryBehavior {
00051     public:
00057       ClearCostmapRecovery();
00058 
00065       void initialize(std::string name, tf::TransformListener* tf, 
00066           costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap);
00067 
00073       void runBehavior();
00074 
00075     private:
00076       void clear(costmap_2d::Costmap2DROS* costmap);      
00077       void clearMap(boost::shared_ptr<costmap_2d::CostmapLayer> costmap, double pose_x, double pose_y);
00078       costmap_2d::Costmap2DROS* global_costmap_, *local_costmap_;
00079       std::string name_;
00080       tf::TransformListener* tf_;
00081       bool initialized_;
00082       double reset_distance_;
00083       std::set<std::string> clearable_layers_; 
00084   };
00085 };
00086 #endif  


clear_costmap_recovery
Author(s): Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:24