costmap_2d_publisher.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  *
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2008, 2013, Willow Garage, Inc.
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/or other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of Willow Garage, Inc. nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  * Author: Eitan Marder-Eppstein
00036  *         David V. Lu!!
00037  *********************************************************************/
00038 #ifndef COSTMAP_COSTMAP_2D_PUBLISHER_H_
00039 #define COSTMAP_COSTMAP_2D_PUBLISHER_H_
00040 #include <ros/ros.h>
00041 #include <costmap_2d/costmap_2d.h>
00042 #include <nav_msgs/OccupancyGrid.h>
00043 #include <map_msgs/OccupancyGridUpdate.h>
00044 #include <tf/transform_datatypes.h>
00045 
00046 namespace costmap_2d
00047 {
00052 class Costmap2DPublisher
00053 {
00054 public:
00058   Costmap2DPublisher(ros::NodeHandle * ros_node, Costmap2D* costmap, std::string global_frame, std::string topic_name, bool always_send_full_costmap = false);
00059 
00063   ~Costmap2DPublisher();
00064 
00066   void updateBounds(unsigned int x0, unsigned int xn, unsigned int y0, unsigned int yn)
00067   {
00068     x0_ = std::min(x0, x0_);
00069     xn_ = std::max(xn, xn_);
00070     y0_ = std::min(y0, y0_);
00071     yn_ = std::max(yn, yn_);
00072   }
00073 
00077   void publishCostmap();
00078 
00083   bool active()
00084   {
00085     return active_;
00086   }
00087 
00088 private:
00090   void prepareGrid();
00091 
00093   void onNewSubscription( const ros::SingleSubscriberPublisher& pub );
00094 
00095   ros::NodeHandle* node;
00096   Costmap2D* costmap_;
00097   std::string global_frame_;
00098   unsigned int x0_, xn_, y0_, yn_;
00099   bool active_;
00100   bool always_send_full_costmap_;
00101   ros::Publisher costmap_pub_;
00102   ros::Publisher costmap_update_pub_;
00103   nav_msgs::OccupancyGrid grid_;
00104   static char* cost_translation_table_; 
00105 };
00106 }
00107 #endif


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:06:55