Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
costmap_2d::VoxelLayer Class Reference

#include <voxel_layer.h>

Inheritance diagram for costmap_2d::VoxelLayer:
Inheritance graph
[legend]

List of all members.

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

Definition at line 65 of file voxel_layer.h.

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.

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.

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.

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_observationThe 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.

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.

void costmap_2d::VoxelLayer::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_xThe x coordinate of the new origin
new_origin_yThe y coordinate of the new origin

Reimplemented from costmap_2d::Costmap2D.

Definition at line 384 of file voxel_layer.cpp.

bool costmap_2d::VoxelLayer::worldToMap3D ( double  wx,
double  wy,
double  wz,
unsigned int &  mx,
unsigned int &  my,
unsigned int &  mz 
) [inline, private]

Definition at line 120 of file voxel_layer.h.

bool costmap_2d::VoxelLayer::worldToMap3DFloat ( double  wx,
double  wy,
double  wz,
double &  mx,
double &  my,
double &  mz 
) [inline, private]

Definition at line 107 of file voxel_layer.h.


Member Data Documentation

Definition at line 105 of file voxel_layer.h.

Definition at line 104 of file voxel_layer.h.

dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>* costmap_2d::VoxelLayer::dsrv_ [private]

Reimplemented from costmap_2d::ObstacleLayer.

Definition at line 97 of file voxel_layer.h.

Definition at line 103 of file voxel_layer.h.

Definition at line 102 of file voxel_layer.h.

Definition at line 99 of file voxel_layer.h.

unsigned int costmap_2d::VoxelLayer::size_z_ [private]

Definition at line 103 of file voxel_layer.h.

Definition at line 103 of file voxel_layer.h.

Definition at line 101 of file voxel_layer.h.

Definition at line 100 of file voxel_layer.h.

Definition at line 102 of file voxel_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