#include <voxel_layer.h>

Inheritance diagram for costmap_2d::VoxelLayer:

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)
Private Attributes
sensor_msgs::PointCloud	clearing_endpoints_
ros::Publisher	clearing_endpoints_pub_
dynamic_reconfigure::Server < costmap_2d::VoxelPluginConfig > *	dsrv_
unsigned int	mark_threshold_
double	origin_z_
bool	publish_voxel_
unsigned int	size_z_
unsigned int	unknown_threshold_
voxel_grid::VoxelGrid	voxel_grid_
ros::Publisher	voxel_pub_
double	z_resolution_

Detailed Description

Definition at line 62 of file voxel_layer.h.

Constructor & Destructor Documentation

costmap_2d::VoxelLayer::VoxelLayer ( ) [inline]

Definition at line 65 of file voxel_layer.h.

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

Definition at line 75 of file voxel_layer.cpp.

Member Function Documentation

void costmap_2d::VoxelLayer::clearNonLethal	(	double	wx,
		double	wy,
		double	w_size_x,
		double	w_size_y,
		bool	clear_no_info
	)		`[private]`

Definition at line 214 of file voxel_layer.cpp.

double costmap_2d::VoxelLayer::dist	(	double	x0,
		double	y0,
		double	z0,
		double	x1,
		double	y1,
		double	z1
	)		`[inline, private]`

Definition at line 143 of file voxel_layer.h.

bool costmap_2d::VoxelLayer::isDiscretized ( ) [inline]

Reimplemented from costmap_2d::CostmapLayer.

Definition at line 78 of file voxel_layer.h.

void costmap_2d::VoxelLayer::mapToWorld3D	(	unsigned int	mx,
		unsigned int	my,
		unsigned int	mz,
		double &	wx,
		double &	wy,
		double &	wz
	)		`[inline, private]`

Definition at line 135 of file voxel_layer.h.

void costmap_2d::VoxelLayer::matchSize ( ) [virtual]

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

Reimplemented from costmap_2d::CostmapLayer.

Definition at line 94 of file voxel_layer.cpp.

void costmap_2d::VoxelLayer::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::ObstacleLayer.

Definition at line 55 of file voxel_layer.cpp.

void costmap_2d::VoxelLayer::raytraceFreespace	(	const costmap_2d::Observation &	clearing_observation,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)		`[private, virtual]`

Clear freespace based on one observation.

Parameters:

clearing_observation	The observation used to raytrace
min_x
min_y
max_x
max_y

Reimplemented from costmap_2d::ObstacleLayer.

Definition at line 265 of file voxel_layer.cpp.

void costmap_2d::VoxelLayer::reconfigureCB	(	costmap_2d::VoxelPluginConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 81 of file voxel_layer.cpp.

void costmap_2d::VoxelLayer::reset ( ) [virtual]

Reimplemented from costmap_2d::ObstacleLayer.

Definition at line 101 of file voxel_layer.cpp.

void costmap_2d::VoxelLayer::resetMaps ( ) [protected, virtual]

Resets the costmap and static_map to be unknown space.

Reimplemented from costmap_2d::Costmap2D.

Definition at line 109 of file voxel_layer.cpp.

void costmap_2d::VoxelLayer::setupDynamicReconfigure ( ros::NodeHandle & nh ) [protected, virtual]

Reimplemented from costmap_2d::ObstacleLayer.

Definition at line 67 of file voxel_layer.cpp.

void costmap_2d::VoxelLayer::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::ObstacleLayer.

Definition at line 115 of file voxel_layer.cpp.