Public Member Functions |
Protected Member Functions |
Protected Attributes |
Private Member Functions |
Private Attributes

costmap_2d::InflationLayer Class Reference

`#include <inflation_layer.h>`

Inheritance diagram for costmap_2d::InflationLayer:

## Public Member Functions | |

unsigned char | computeCost (double distance) const |

Given a distance, compute a cost. | |

InflationLayer () | |

virtual bool | isDiscretized () |

virtual void | matchSize () |

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

virtual void | onInitialize () |

This is called at the end of initialize(). Override to implement subclass-specific initialization. | |

virtual void | reset () |

virtual void | updateBounds (double robot_x, double robot_y, double robot_yaw, double *min_x, double *min_y, double *max_x, double *max_y) |

This is called by the LayeredCostmap to poll this plugin as to how much of the costmap it needs to update. Each layer can increase the size of this bounds. | |

virtual void | updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j) |

Actually update the underlying costmap, only within the bounds calculated during UpdateBounds(). | |

virtual | ~InflationLayer () |

## Protected Member Functions | |

virtual void | onFootprintChanged () |

LayeredCostmap calls this whenever the footprint there changes (via LayeredCostmap::setFootprint()). Override to be notified of changes to the robot's footprint. | |

## Protected Attributes | |

boost::shared_mutex * | access_ |

## Private Member Functions | |

unsigned int | cellDistance (double world_dist) |

void | computeCaches () |

unsigned char | costLookup (int mx, int my, int src_x, int src_y) |

Lookup pre-computed costs. | |

void | deleteKernels () |

double | distanceLookup (int mx, int my, int src_x, int src_y) |

Lookup pre-computed distances. | |

void | enqueue (unsigned char *grid, unsigned int index, unsigned int mx, unsigned int my, unsigned int src_x, unsigned int src_y) |

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

void | inflate_area (int min_i, int min_j, int max_i, int max_j, unsigned char *master_grid) |

void | reconfigureCB (costmap_2d::InflationPluginConfig &config, uint32_t level) |

## Private Attributes | |

unsigned int | cached_cell_inflation_radius_ |

unsigned char ** | cached_costs_ |

double ** | cached_distances_ |

unsigned int | cell_inflation_radius_ |

dynamic_reconfigure::Server < costmap_2d::InflationPluginConfig > * | dsrv_ |

std::priority_queue< CellData > | inflation_queue_ |

double | inflation_radius_ |

double | inscribed_radius_ |

bool | need_reinflation_ |

Indicates that the entire costmap should be reinflated next time around. | |

double | resolution_ |

bool * | seen_ |

double | weight_ |

Definition at line 86 of file inflation_layer.h.

Definition at line 52 of file inflation_layer.cpp.

virtual costmap_2d::InflationLayer::~InflationLayer | ( | ) | ` [inline, virtual]` |

Definition at line 91 of file inflation_layer.h.

unsigned int costmap_2d::InflationLayer::cellDistance | ( | double | world_dist | ) | ` [inline, private]` |

Definition at line 169 of file inflation_layer.h.

void costmap_2d::InflationLayer::computeCaches | ( | ) | ` [private]` |

Definition at line 253 of file inflation_layer.cpp.

unsigned char costmap_2d::InflationLayer::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 113 of file inflation_layer.h.

unsigned char costmap_2d::InflationLayer::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 158 of file inflation_layer.h.

void costmap_2d::InflationLayer::deleteKernels | ( | ) | ` [private]` |

Definition at line 289 of file inflation_layer.cpp.

double costmap_2d::InflationLayer::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 143 of file inflation_layer.h.

void costmap_2d::InflationLayer::enqueue | ( | unsigned char * | grid, |

unsigned int | index, |
||

unsigned int | mx, |
||

unsigned int | my, |
||

unsigned int | src_x, |
||

unsigned int | src_y |
||

) | ` [inline, private]` |

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

**Parameters:**-
grid The costmap 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

Definition at line 224 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::inflate_area | ( | int | min_i, |

int | min_j, |
||

int | max_i, |
||

int | max_j, |
||

unsigned char * | master_grid |
||

) | ` [private]` |

virtual bool costmap_2d::InflationLayer::isDiscretized | ( | ) | ` [inline, virtual]` |

Definition at line 102 of file inflation_layer.h.

void costmap_2d::InflationLayer::matchSize | ( | ) | ` [virtual]` |

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

Reimplemented from costmap_2d::Layer.

Definition at line 106 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::onFootprintChanged | ( | ) | ` [protected, virtual]` |

LayeredCostmap calls this whenever the footprint there changes (via LayeredCostmap::setFootprint()). Override to be notified of changes to the robot's footprint.

Reimplemented from costmap_2d::Layer.

Definition at line 136 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::onInitialize | ( | ) | ` [virtual]` |

This is called at the end of initialize(). Override to implement subclass-specific initialization.

tf_, name_, and layered_costmap_ will all be set already when this is called.

Reimplemented from costmap_2d::Layer.

Definition at line 62 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::reconfigureCB | ( | costmap_2d::InflationPluginConfig & | config, |

uint32_t | level |
||

) | ` [private]` |

Definition at line 89 of file inflation_layer.cpp.

virtual void costmap_2d::InflationLayer::reset | ( | ) | ` [inline, virtual]` |

Reimplemented from costmap_2d::Layer.

Definition at line 108 of file inflation_layer.h.

void costmap_2d::InflationLayer::updateBounds | ( | double | robot_x, |

double | robot_y, |
||

double | robot_yaw, |
||

double * | min_x, |
||

double * | min_y, |
||

double * | max_x, |
||

double * | max_y |
||

) | ` [virtual]` |

This is called by the LayeredCostmap to poll this plugin as to how much of the costmap it needs to update. Each layer can increase the size of this bounds.

For more details, see "Layered Costmaps for Context-Sensitive Navigation", by Lu et. Al, IROS 2014.

Reimplemented from costmap_2d::Layer.

Definition at line 120 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::updateCosts | ( | costmap_2d::Costmap2D & | master_grid, |

int | min_i, |
||

int | min_j, |
||

int | max_i, |
||

int | max_j |
||

) | ` [virtual]` |

Actually update the underlying costmap, only within the bounds calculated during UpdateBounds().

Reimplemented from costmap_2d::Layer.

Definition at line 147 of file inflation_layer.cpp.

boost::shared_mutex* costmap_2d::InflationLayer::access_` [protected]` |

Definition at line 132 of file inflation_layer.h.

unsigned int costmap_2d::InflationLayer::cached_cell_inflation_radius_` [private]` |

Definition at line 179 of file inflation_layer.h.

unsigned char** costmap_2d::InflationLayer::cached_costs_` [private]` |

Definition at line 186 of file inflation_layer.h.

double** costmap_2d::InflationLayer::cached_distances_` [private]` |

Definition at line 187 of file inflation_layer.h.

unsigned int costmap_2d::InflationLayer::cell_inflation_radius_` [private]` |

Definition at line 178 of file inflation_layer.h.

dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig>* costmap_2d::InflationLayer::dsrv_` [private]` |

Definition at line 189 of file inflation_layer.h.

std::priority_queue<CellData> costmap_2d::InflationLayer::inflation_queue_` [private]` |

Definition at line 180 of file inflation_layer.h.

double costmap_2d::InflationLayer::inflation_radius_` [private]` |

Definition at line 177 of file inflation_layer.h.

double costmap_2d::InflationLayer::inscribed_radius_` [private]` |

Definition at line 177 of file inflation_layer.h.

bool costmap_2d::InflationLayer::need_reinflation_` [private]` |

Indicates that the entire costmap should be reinflated next time around.

Definition at line 192 of file inflation_layer.h.

double costmap_2d::InflationLayer::resolution_` [private]` |

Definition at line 182 of file inflation_layer.h.

bool* costmap_2d::InflationLayer::seen_` [private]` |

Definition at line 184 of file inflation_layer.h.

double costmap_2d::InflationLayer::weight_` [private]` |

Definition at line 177 of file inflation_layer.h.

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

costmap_2d

Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com

autogenerated on Thu Aug 27 2015 14:06:55

Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com

autogenerated on Thu Aug 27 2015 14:06:55