Public Member Functions
|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. |
|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. |
| ||VoxelLayer ()|
|virtual ||~VoxelLayer ()|
Protected Member Functions
|virtual void ||resetMaps ()|
| ||Resets the costmap and static_map to be unknown space. |
|virtual void ||setupDynamicReconfigure (ros::NodeHandle &nh)|
Private Member Functions
|void ||clearNonLethal (double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info)|
|double ||dist (double x0, double y0, double z0, double x1, double y1, double z1)|
|void ||mapToWorld3D (unsigned int mx, unsigned int my, unsigned int mz, double &wx, double &wy, double &wz)|
|virtual void ||raytraceFreespace (const costmap_2d::Observation &clearing_observation, double *min_x, double *min_y, double *max_x, double *max_y)|
| ||Clear freespace based on one observation. |
|void ||reconfigureCB (costmap_2d::VoxelPluginConfig &config, uint32_t level)|
|bool ||worldToMap3D (double wx, double wy, double wz, unsigned int &mx, unsigned int &my, unsigned int &mz)|
|bool ||worldToMap3DFloat (double wx, double wy, double wz, double &mx, double &my, double &mz)|
< costmap_2d::VoxelPluginConfig > *
|unsigned int ||mark_threshold_|
|unsigned int ||size_z_|
|unsigned int ||unknown_threshold_|
Definition at line 62 of file voxel_layer.h.
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::ObstacleLayer.
Definition at line 115 of file voxel_layer.cpp.