base_local_planner::MapGrid Class Reference

A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller. More...

`#include <map_grid.h>`

## Public Member Functions | |

void | commonInit () |

Utility to share initialization code across constructors. | |

void | computeGoalDistance (std::queue< MapCell * > &dist_queue, const costmap_2d::Costmap2D &costmap) |

Compute the distance from each cell in the local map grid to the local goal point. | |

void | computeTargetDistance (std::queue< MapCell * > &dist_queue, const costmap_2d::Costmap2D &costmap) |

Compute the distance from each cell in the local map grid to the planned path. | |

MapCell & | getCell (unsigned int x, unsigned int y) |

size_t | getIndex (int x, int y) |

Returns a 1D index into the MapCell array for a 2D index. | |

MapGrid () | |

Creates a 0x0 map by default. | |

MapGrid (unsigned int size_x, unsigned int size_y) | |

Creates a map of size_x by size_y. | |

MapGrid (const MapGrid &mg) | |

Copy constructor for a MapGrid. | |

double | obstacleCosts () |

MapCell & | operator() (unsigned int x, unsigned int y) |

Returns a map cell accessed by (col, row) | |

MapCell | operator() (unsigned int x, unsigned int y) const |

Returns a map cell accessed by (col, row) | |

MapGrid & | operator= (const MapGrid &mg) |

Assignment operator for a MapGrid. | |

void | resetPathDist () |

reset path distance fields for all cells | |

void | setLocalGoal (const costmap_2d::Costmap2D &costmap, const std::vector< geometry_msgs::PoseStamped > &global_plan) |

Update what cell is considered the next local goal. | |

void | setTargetCells (const costmap_2d::Costmap2D &costmap, const std::vector< geometry_msgs::PoseStamped > &global_plan) |

Update what cells are considered path based on the global plan. | |

void | sizeCheck (unsigned int size_x, unsigned int size_y) |

check if we need to resize | |

double | unreachableCellCosts () |

bool | updatePathCell (MapCell *current_cell, MapCell *check_cell, const costmap_2d::Costmap2D &costmap) |

Used to update the distance of a cell in path distance computation. | |

~MapGrid () | |

Destructor for a MapGrid. | |

## Static Public Member Functions | |

static void | adjustPlanResolution (const std::vector< geometry_msgs::PoseStamped > &global_plan_in, std::vector< geometry_msgs::PoseStamped > &global_plan_out, double resolution) |

## Public Attributes | |

double | goal_x_ |

double | goal_y_ |

The goal distance was last computed from. | |

unsigned int | size_x_ |

unsigned int | size_y_ |

The dimensions of the grid. | |

## Private Attributes | |

std::vector< MapCell > | map_ |

Storage for the MapCells. |

A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller.

Definition at line 52 of file map_grid.h.

Creates a 0x0 map by default.

Definition at line 40 of file map_grid.cpp.

base_local_planner::MapGrid::MapGrid | ( | unsigned int | size_x, |

unsigned int | size_y |
||

) |

Creates a map of size_x by size_y.

**Parameters:**-
size_x The width of the map size_y The height of the map

Definition at line 45 of file map_grid.cpp.

base_local_planner::MapGrid::~MapGrid | ( | ) | ` [inline]` |

Destructor for a MapGrid.

Definition at line 94 of file map_grid.h.

base_local_planner::MapGrid::MapGrid | ( | const MapGrid & | mg | ) |

Copy constructor for a MapGrid.

**Parameters:**-
mg The MapGrid to copy

Definition at line 51 of file map_grid.cpp.

void base_local_planner::MapGrid::adjustPlanResolution | ( | const std::vector< geometry_msgs::PoseStamped > & | global_plan_in, |

std::vector< geometry_msgs::PoseStamped > & | global_plan_out, |
||

double | resolution |
||

) | ` [static]` |

increase global plan resolution to match that of the costmap by adding points linearly between global plan points This is necessary where global planners produce plans with few points.

**Parameters:**-
global_plan_in input global_plan_output output resolution desired distance between waypoints

Definition at line 133 of file map_grid.cpp.

Utility to share initialization code across constructors.

Definition at line 57 of file map_grid.cpp.

void base_local_planner::MapGrid::computeGoalDistance | ( | std::queue< MapCell * > & | dist_queue, |

const costmap_2d::Costmap2D & | costmap |
||

) |

Compute the distance from each cell in the local map grid to the local goal point.

**Parameters:**-
goal_queue A queue containing the local goal cell

void base_local_planner::MapGrid::computeTargetDistance | ( | std::queue< MapCell * > & | dist_queue, |

const costmap_2d::Costmap2D & | costmap |
||

) |

Compute the distance from each cell in the local map grid to the planned path.

**Parameters:**-
dist_queue A queue of the initial cells on the path

Definition at line 255 of file map_grid.cpp.

MapCell& base_local_planner::MapGrid::getCell | ( | unsigned int | x, |

unsigned int | y |
||

) | ` [inline]` |

Definition at line 87 of file map_grid.h.

size_t base_local_planner::MapGrid::getIndex | ( | int | x, |

int | y |
||

) |

Returns a 1D index into the MapCell array for a 2D index.

**Parameters:**-
x The desired x coordinate y The desired y coordinate

**Returns:**- The associated 1D index

Definition at line 73 of file map_grid.cpp.

double base_local_planner::MapGrid::obstacleCosts | ( | ) | ` [inline]` |

return a value that indicates cell is in obstacle

Definition at line 136 of file map_grid.h.

MapCell& base_local_planner::MapGrid::operator() | ( | unsigned int | x, |

unsigned int | y |
||

) | ` [inline]` |

Returns a map cell accessed by (col, row)

**Parameters:**-
x The x coordinate of the cell y The y coordinate of the cell

**Returns:**- A reference to the desired cell

Definition at line 73 of file map_grid.h.

MapCell base_local_planner::MapGrid::operator() | ( | unsigned int | x, |

unsigned int | y |
||

) | const` [inline]` |

Returns a map cell accessed by (col, row)

**Parameters:**-
x The x coordinate of the cell y The y coordinate of the cell

**Returns:**- A copy of the desired cell

Definition at line 83 of file map_grid.h.

Assignment operator for a MapGrid.

**Parameters:**-
mg The MapGrid to assign from

Definition at line 77 of file map_grid.cpp.

reset path distance fields for all cells

Definition at line 125 of file map_grid.cpp.

void base_local_planner::MapGrid::setLocalGoal | ( | const costmap_2d::Costmap2D & | costmap, |

const std::vector< geometry_msgs::PoseStamped > & | global_plan |
||

) |

Update what cell is considered the next local goal.

Definition at line 210 of file map_grid.cpp.

void base_local_planner::MapGrid::setTargetCells | ( | const costmap_2d::Costmap2D & | costmap, |

const std::vector< geometry_msgs::PoseStamped > & | global_plan |
||

) |

Update what cells are considered path based on the global plan.

Definition at line 171 of file map_grid.cpp.

void base_local_planner::MapGrid::sizeCheck | ( | unsigned int | size_x, |

unsigned int | size_y |
||

) |

check if we need to resize

**Parameters:**-
size_x The desired width size_y The desired height

Definition at line 84 of file map_grid.cpp.

double base_local_planner::MapGrid::unreachableCellCosts | ( | ) | ` [inline]` |

returns a value indicating cell was not reached by wavefront propagation of set cells. (is behind walls, regarding the region covered by grid)

Definition at line 144 of file map_grid.h.

bool base_local_planner::MapGrid::updatePathCell | ( | MapCell * | current_cell, |

MapCell * | check_cell, |
||

const costmap_2d::Costmap2D & | costmap |
||

) | ` [inline]` |

Used to update the distance of a cell in path distance computation.

**Parameters:**-
current_cell The cell we're currently in check_cell The cell to be updated

Definition at line 103 of file map_grid.cpp.

Definition at line 189 of file map_grid.h.

The goal distance was last computed from.

Definition at line 189 of file map_grid.h.

std::vector<MapCell> base_local_planner::MapGrid::map_` [private]` |

Storage for the MapCells.

Definition at line 195 of file map_grid.h.

unsigned int base_local_planner::MapGrid::size_x_ |

Definition at line 191 of file map_grid.h.

unsigned int base_local_planner::MapGrid::size_y_ |

The dimensions of the grid.

Definition at line 191 of file map_grid.h.

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

base_local_planner

Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com

autogenerated on Sun Mar 3 2019 03:46:30

Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com

autogenerated on Sun Mar 3 2019 03:46:30