costmap_2d::CostmapLayer Class Reference

#include <costmap_layer.h>

Inheritance diagram for costmap_2d::CostmapLayer:

List of all members.

Public Member Functions
void	addExtraBounds (double mx0, double my0, double mx1, double my1)
	CostmapLayer ()
bool	isDiscretized ()
virtual void	matchSize ()
	Implement this to make this layer match the size of the parent costmap.
Protected Member Functions
void	touch (double x, double y, double *min_x, double *min_y, double *max_x, double *max_y)
void	updateWithAddition (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
void	updateWithMax (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
void	updateWithOverwrite (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
void	updateWithTrueOverwrite (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
void	useExtraBounds (double *min_x, double *min_y, double *max_x, double *max_y)
Protected Attributes
bool	has_extra_bounds_
Private Attributes
double	extra_max_x_
double	extra_max_y_
double	extra_min_x_
double	extra_min_y_

---

Detailed Description

Definition at line 47 of file costmap_layer.h.

---

Constructor & Destructor Documentation

costmap_2d::CostmapLayer::CostmapLayer

(

)

[inline]

Definition at line 50 of file costmap_layer.h.

---

Member Function Documentation

void costmap_2d::CostmapLayer::addExtraBounds	(	double	mx0,
		double	my0,
		double	mx1,
		double	my1
	)

If an external source changes values in the costmap, it should call this method with the area that it changed to ensure that the costmap includes this region as well.

Parameters:

mx0	Minimum x value of the bounding box
my0	Minimum y value of the bounding box
mx1	Maximum x value of the bounding box
my1	Maximum y value of the bounding box

Definition at line 21 of file costmap_layer.cpp.

bool costmap_2d::CostmapLayer::isDiscretized

(

)

[inline]

Reimplemented in costmap_2d::VoxelLayer.

Definition at line 54 of file costmap_layer.h.

void costmap_2d::CostmapLayer::matchSize

(

)

[virtual]

Implement this to make this layer match the size of the parent costmap.

Reimplemented from costmap_2d::Layer.

Reimplemented in costmap_2d::VoxelLayer, and costmap_2d::StaticLayer.

Definition at line 14 of file costmap_layer.cpp.

void costmap_2d::CostmapLayer::touch	(	double	x,
		double	y,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)		[protected]

Updates the bounding box specified in the parameters to include the location (x,y)

Parameters:

x	x-coordinate to include
y	y-coordinate to include
min_x	bounding box
min_y	bounding box
max_x	bounding box
max_y	bounding box

Definition at line 6 of file costmap_layer.cpp.

void costmap_2d::CostmapLayer::updateWithAddition	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)		[protected]

Definition at line 109 of file costmap_layer.cpp.

void costmap_2d::CostmapLayer::updateWithMax	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)		[protected]

Definition at line 46 of file costmap_layer.cpp.

void costmap_2d::CostmapLayer::updateWithOverwrite	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)		[protected]

Definition at line 90 of file costmap_layer.cpp.

void costmap_2d::CostmapLayer::updateWithTrueOverwrite	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)		[protected]

Definition at line 72 of file costmap_layer.cpp.

void costmap_2d::CostmapLayer::useExtraBounds	(	double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)		[protected]

Definition at line 30 of file costmap_layer.cpp.

---

Member Data Documentation

double costmap_2d::CostmapLayer::extra_max_x_ [private]

Definition at line 146 of file costmap_layer.h.

double costmap_2d::CostmapLayer::extra_max_y_ [private]

Definition at line 146 of file costmap_layer.h.

double costmap_2d::CostmapLayer::extra_min_x_ [private]

Definition at line 146 of file costmap_layer.h.

double costmap_2d::CostmapLayer::extra_min_y_ [private]

Definition at line 146 of file costmap_layer.h.

bool costmap_2d::CostmapLayer::has_extra_bounds_ [protected]

Definition at line 143 of file costmap_layer.h.

---

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

• costmap_layer.h
• costmap_layer.cpp