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	MarkCell
class	PolygonOutlineCells
Public Member Functions
unsigned int	cellDistance (double world_dist)
	Given distance in the world... convert it to cells.
void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that fill a convex polygon.
bool	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, unsigned char default_value=0)
	Constructor for a costmap.
	Costmap2D (const Costmap2D &map)
	Copy constructor for a costmap, creates a copy efficiently.
	Costmap2D ()
	Default constructor.
unsigned char *	getCharMap () const
	Will return a pointer to the underlying unsigned char array used as the costmap.
unsigned char	getCost (unsigned int mx, unsigned int my) const
	Get the cost of a cell in the costmap.
unsigned char	getDefaultValue ()
unsigned int	getIndex (unsigned int mx, unsigned int my) const
	Given two map coordinates... compute the associated index.
boost::shared_mutex *	getLock ()
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.
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	resetMap (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn)
void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y)
bool	saveMap (std::string file_name)
	Save the costmap out to a pgm file.
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.
void	setDefaultValue (unsigned char c)
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.
bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const
	Convert from world coordinates to map coordinates.
void	worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates, constraining results to legal bounds.
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
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.
virtual void	deleteMaps ()
	Deletes the costmap, static_map, and markers data structures.
virtual void	initMaps (unsigned int size_x, unsigned int size_y)
	Initializes the costmap, static_map, and markers data structures.
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.
virtual void	resetMaps ()
	Resets the costmap and static_map to be unknown space.
Protected Attributes
unsigned char *	costmap_
unsigned char	default_value_
double	origin_x_
double	origin_y_
double	resolution_
unsigned int	size_x_
unsigned int	size_y_
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.
int	sign (int x)
Private Attributes
boost::shared_mutex *	access_
Friends
class	CostmapTester

Detailed Description

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

Definition at line 60 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,
		unsigned char	default_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
default_value	Default Value

Definition at line 45 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 162 of file costmap_2d.cpp.

costmap_2d::Costmap2D::Costmap2D ( )

Default constructor.

Definition at line 169 of file costmap_2d.cpp.

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

Destructor.

Definition at line 175 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 395 of file costmap_2d.h.

unsigned int costmap_2d::Costmap2D::cellDistance ( double world_dist )

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

Parameters:

world_dist The world distance

Returns:: The equivalent cell distance

Definition at line 180 of file costmap_2d.cpp.

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 354 of file costmap_2d.cpp.

bool 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 101 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

Definition at line 313 of file costmap_2d.h.

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

Deletes the costmap, static_map, and markers data structures.

Definition at line 57 of file costmap_2d.cpp.

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

Will return a 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 186 of file costmap_2d.cpp.

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 191 of file costmap_2d.cpp.

unsigned char costmap_2d::Costmap2D::getDefaultValue ( ) [inline]

Definition at line 241 of file costmap_2d.h.

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 171 of file costmap_2d.h.

boost::shared_mutex* costmap_2d::Costmap2D::getLock ( ) [inline]

Definition at line 293 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 446 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 451 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 456 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 426 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 431 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 436 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 441 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 182 of file costmap_2d.h.

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

Definition at line 65 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 201 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 137 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 339 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, protected]`

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 358 of file costmap_2d.h.

void costmap_2d::Costmap2D::resetMap	(	unsigned int	x0,
		unsigned int	y0,
		unsigned int	xn,
		unsigned int	yn
	)

Definition at line 93 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::VoxelLayer.

Definition at line 87 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::resizeMap	(	unsigned int	size_x,
		unsigned int	size_y,
		double	resolution,
		double	origin_x,
		double	origin_y
	)

Definition at line 72 of file costmap_2d.cpp.

bool 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 461 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 310 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 196 of file costmap_2d.cpp.

void costmap_2d::Costmap2D::setDefaultValue ( unsigned char c ) [inline]

Definition at line 236 of file costmap_2d.h.

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

Definition at line 413 of file costmap_2d.h.

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::VoxelLayer.

Definition at line 259 of file costmap_2d.cpp.

bool costmap_2d::Costmap2D::worldToMap	(	double	wx,
		double	wy,
		unsigned int &	mx,
		unsigned int &	my
	)		const

Convert from world coordinates to map coordinates.

Parameters:

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

Returns:: True if the conversion was successful (legal bounds) false otherwise

Definition at line 207 of file costmap_2d.cpp.

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

Convert from world coordinates to map coordinates, constraining results to legal bounds.

Parameters:

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

Note:: The returned map coordinates are guaranteed to lie within the map.

Definition at line 227 of file costmap_2d.cpp.

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

Convert from world coordinates to map coordinates without checking for legal bounds.

Parameters:

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

Note:: The returned map coordinates are not guaranteed to lie within the map.

Definition at line 221 of file costmap_2d.cpp.

Friends And Related Function Documentation

friend class CostmapTester [friend]

Definition at line 62 of file costmap_2d.h.

Member Data Documentation

boost::shared_mutex* costmap_2d::Costmap2D::access_ [private]

Definition at line 418 of file costmap_2d.h.

unsigned char* costmap_2d::Costmap2D::costmap_ [protected]

Definition at line 425 of file costmap_2d.h.

unsigned char costmap_2d::Costmap2D::default_value_ [protected]

Definition at line 426 of file costmap_2d.h.

double costmap_2d::Costmap2D::origin_x_ [protected]

Definition at line 423 of file costmap_2d.h.

double costmap_2d::Costmap2D::origin_y_ [protected]

Definition at line 424 of file costmap_2d.h.

double costmap_2d::Costmap2D::resolution_ [protected]

Definition at line 422 of file costmap_2d.h.

unsigned int costmap_2d::Costmap2D::size_x_ [protected]

Definition at line 420 of file costmap_2d.h.

unsigned int costmap_2d::Costmap2D::size_y_ [protected]

Definition at line 421 of file costmap_2d.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation