Public Member Functions | Private Member Functions | Private Attributes
rtabmap_ros::StaticLayer Class Reference

#include <static_layer.h>

Inheritance diagram for rtabmap_ros::StaticLayer:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void activate ()
virtual void deactivate ()
virtual void matchSize ()
virtual void onInitialize ()
virtual void reset ()
 StaticLayer ()
virtual void updateBounds (double robot_x, double robot_y, double robot_yaw, double *min_x, double *min_y, double *max_x, double *max_y)
virtual void updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
virtual ~StaticLayer ()

Private Member Functions

void incomingMap (const nav_msgs::OccupancyGridConstPtr &new_map)
 Callback to update the costmap's map from the map_server.
void incomingUpdate (const map_msgs::OccupancyGridUpdateConstPtr &update)
unsigned char interpretValue (unsigned char value)
void reconfigureCB (costmap_2d::GenericPluginConfig &config, uint32_t level)

Private Attributes

dynamic_reconfigure::Server
< costmap_2d::GenericPluginConfig > * 
dsrv_
std::string global_frame_
 The global frame for the costmap.
bool has_updated_data_
unsigned int height_
unsigned char lethal_threshold_
boost::recursive_mutex lock_
bool map_received_
ros::Subscriber map_sub_
ros::Subscriber map_update_sub_
bool subscribe_to_updates_
bool track_unknown_space_
bool trinary_costmap_
unsigned char unknown_cost_value_
bool use_maximum_
unsigned int width_
unsigned int x_
unsigned int y_

Detailed Description

Definition at line 53 of file static_layer.h.


Constructor & Destructor Documentation

Definition at line 56 of file static_layer.cpp.

Definition at line 58 of file static_layer.cpp.


Member Function Documentation

Reimplemented from costmap_2d::Layer.

Definition at line 217 of file static_layer.cpp.

Reimplemented from costmap_2d::Layer.

Definition at line 222 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::incomingMap ( const nav_msgs::OccupancyGridConstPtr &  new_map) [private]

Callback to update the costmap's map from the map_server.

Parameters:
new_mapThe map to put into the costmap. The origin of the new map along with its size will determine what parts of the costmap's static map are overwritten.

Definition at line 150 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::incomingUpdate ( const map_msgs::OccupancyGridUpdateConstPtr &  update) [private]

Definition at line 196 of file static_layer.cpp.

unsigned char rtabmap_ros::StaticLayer::interpretValue ( unsigned char  value) [private]

Definition at line 136 of file static_layer.cpp.

Reimplemented from costmap_2d::CostmapLayer.

Definition at line 129 of file static_layer.cpp.

Reimplemented from costmap_2d::Layer.

Definition at line 64 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::reconfigureCB ( costmap_2d::GenericPluginConfig &  config,
uint32_t  level 
) [private]

Definition at line 117 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::reset ( ) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 229 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::updateBounds ( double  robot_x,
double  robot_y,
double  robot_yaw,
double *  min_x,
double *  min_y,
double *  max_x,
double *  max_y 
) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 235 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::updateCosts ( costmap_2d::Costmap2D master_grid,
int  min_i,
int  min_j,
int  max_i,
int  max_j 
) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 256 of file static_layer.cpp.


Member Data Documentation

dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>* rtabmap_ros::StaticLayer::dsrv_ [private]

Definition at line 95 of file static_layer.h.

The global frame for the costmap.

Definition at line 82 of file static_layer.h.

Definition at line 85 of file static_layer.h.

unsigned int rtabmap_ros::StaticLayer::height_ [private]

Definition at line 86 of file static_layer.h.

Definition at line 92 of file static_layer.h.

boost::recursive_mutex rtabmap_ros::StaticLayer::lock_ [mutable, private]

Definition at line 94 of file static_layer.h.

Definition at line 84 of file static_layer.h.

Definition at line 90 of file static_layer.h.

Definition at line 90 of file static_layer.h.

Definition at line 83 of file static_layer.h.

Definition at line 87 of file static_layer.h.

Definition at line 89 of file static_layer.h.

Definition at line 92 of file static_layer.h.

Definition at line 88 of file static_layer.h.

unsigned int rtabmap_ros::StaticLayer::width_ [private]

Definition at line 86 of file static_layer.h.

unsigned int rtabmap_ros::StaticLayer::x_ [private]

Definition at line 86 of file static_layer.h.

unsigned int rtabmap_ros::StaticLayer::y_ [private]

Definition at line 86 of file static_layer.h.


The documentation for this class was generated from the following files:


rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Thu Aug 27 2015 15:00:25