costmap_2d Namespace Reference

Classes
class	CellData
	Storage for cell information used during obstacle inflation. More...
class	Costmap2D
	A 2D costmap provides a mapping between points in the world and their associated "costs". More...
class	Costmap2DPublisher
	A tool to periodically publish visualization data from a Costmap2D. More...
class	Costmap2DROS
	A ROS wrapper for a 2D Costmap. Handles subscribing to topics that provide observations about obstacles in either the form of PointCloud or LaserScan messages. More...
class	CostmapLayer
class	CostmapTester
class	FootprintLayer
class	InflationLayer
class	Layer
class	LayeredCostmap
	Instantiates different layer plugins and aggregates them into one score. More...
struct	MapLocation
class	Observation
	Stores an observation in terms of a point cloud and the origin of the source. More...
class	ObservationBuffer
	Takes in point clouds from sensors, transforms them to the desired frame, and stores them. More...
class	ObstacleLayer
class	StaticLayer
class	VoxelLayer
Functions
void	calculateMinAndMaxDistances (const std::vector< geometry_msgs::Point > &footprint, double &min_dist, double &max_dist)
double	getNumberFromXMLRPC (XmlRpc::XmlRpcValue &value, const std::string &full_param_name)
void	move_parameter (ros::NodeHandle &old_h, ros::NodeHandle &new_h, std::string name, bool should_delete=true)
bool	operator< (const CellData &a, const CellData &b)
	Provide an ordering between CellData objects in the priority queue.
std::vector< std::vector< float > >	parseVVF (const std::string &input, std::string &error_return)
	Parse a vector of vectors of floats from a string.
double	sign (double x)
geometry_msgs::Point	toPoint (geometry_msgs::Point32 pt)
geometry_msgs::Point32	toPoint32 (geometry_msgs::Point pt)
std::vector< geometry_msgs::Point >	toPointVector (geometry_msgs::Polygon polygon)
geometry_msgs::Polygon	toPolygon (std::vector< geometry_msgs::Point > pts)
Variables
static const unsigned char	FREE_SPACE = 0
static const unsigned char	INSCRIBED_INFLATED_OBSTACLE = 253
static const unsigned char	LETHAL_OBSTACLE = 254
static const unsigned char	NO_INFORMATION = 255

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Detailed Description

Provides a mapping for often used cost values

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Function Documentation

void costmap_2d::calculateMinAndMaxDistances	(	const std::vector< geometry_msgs::Point > &	footprint,
		double &	min_dist,
		double &	max_dist
	)

Definition at line 40 of file footprint.cpp.

double costmap_2d::getNumberFromXMLRPC	(	XmlRpc::XmlRpcValue &	value,
		const std::string &	full_param_name
	)

Definition at line 436 of file costmap_2d_ros.cpp.

void costmap_2d::move_parameter	(	ros::NodeHandle &	old_h,
		ros::NodeHandle &	new_h,
		std::string	name,
		bool	should_delete = true
	)

Definition at line 52 of file costmap_2d_ros.cpp.

bool costmap_2d::operator<	(	const CellData &	a,
		const CellData &	b
	)		[inline]

Provide an ordering between CellData objects in the priority queue.

Returns:

We want the lowest distance to have the highest priority... so this returns true if a has higher priority than b

Definition at line 81 of file inflation_layer.h.

std::vector< std::vector< float > > costmap_2d::parseVVF	(	const std::string &	input,
		std::string &	error_return
	)

Parse a vector of vectors of floats from a string.

Parse a vector of vector of floats from a string.

Parameters:

error_return

If no error, error_return is set to "". If error, error_return will describe the error. Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...]

On error, error_return is set and the return value could be anything, like part of a successful parse.

Parameters:

input
error_return	Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...]

Definition at line 44 of file array_parser.cpp.

double costmap_2d::sign

(

double

x

)

Definition at line 486 of file costmap_2d_ros.cpp.

geometry_msgs::Point costmap_2d::toPoint

(

geometry_msgs::Point32

pt

)

Definition at line 77 of file footprint.cpp.

geometry_msgs::Point32 costmap_2d::toPoint32

(

geometry_msgs::Point

pt

)

Definition at line 68 of file footprint.cpp.

std::vector< geometry_msgs::Point > costmap_2d::toPointVector

(

geometry_msgs::Polygon

polygon

)

Definition at line 95 of file footprint.cpp.

geometry_msgs::Polygon costmap_2d::toPolygon

(

std::vector< geometry_msgs::Point >

pts

)

Definition at line 86 of file footprint.cpp.

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Variable Documentation

const unsigned char costmap_2d::FREE_SPACE = 0 [static]

Definition at line 45 of file cost_values.h.

const unsigned char costmap_2d::INSCRIBED_INFLATED_OBSTACLE = 253 [static]

Definition at line 44 of file cost_values.h.

const unsigned char costmap_2d::LETHAL_OBSTACLE = 254 [static]

Definition at line 43 of file cost_values.h.

const unsigned char costmap_2d::NO_INFORMATION = 255 [static]

Definition at line 42 of file cost_values.h.