map_grid_visualizer.cpp
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00034 #include <base_local_planner/map_grid_visualizer.h>
00035 #include <base_local_planner/map_cell.h>
00036 #include <vector>
00037 
00038 #include <pcl_conversions/pcl_conversions.h>
00039 
00040 namespace base_local_planner {
00041   MapGridVisualizer::MapGridVisualizer() {}
00042 
00043 
00044   void MapGridVisualizer::initialize(const std::string& name, std::string frame_id, boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function) {
00045     name_ = name;
00046     cost_function_ = cost_function;
00047 
00048     ns_nh_ = ros::NodeHandle("~/" + name_);
00049 
00050     cost_cloud_ = new pcl::PointCloud<MapGridCostPoint>;
00051     cost_cloud_->header.frame_id = frame_id;
00052     pub_.advertise(ns_nh_, "cost_cloud", 1);
00053   }
00054 
00055   void MapGridVisualizer::publishCostCloud(const costmap_2d::Costmap2D* costmap_p_) {
00056     unsigned int x_size = costmap_p_->getSizeInCellsX();
00057     unsigned int y_size = costmap_p_->getSizeInCellsY();
00058     double z_coord = 0.0;
00059     double x_coord, y_coord;
00060     MapGridCostPoint pt;
00061     cost_cloud_->points.clear();
00062     std_msgs::Header header = pcl_conversions::fromPCL(cost_cloud_->header);
00063     header.stamp = ros::Time::now();
00064     cost_cloud_->header = pcl_conversions::toPCL(header);
00065     float path_cost, goal_cost, occ_cost, total_cost;
00066     for (unsigned int cx = 0; cx < x_size; cx++) {
00067       for (unsigned int cy = 0; cy < y_size; cy++) {
00068         costmap_p_->mapToWorld(cx, cy, x_coord, y_coord);
00069         if (cost_function_(cx, cy, path_cost, goal_cost, occ_cost, total_cost)) {
00070           pt.x = x_coord;
00071           pt.y = y_coord;
00072           pt.z = z_coord;
00073           pt.path_cost = path_cost;
00074           pt.goal_cost = goal_cost;
00075           pt.occ_cost = occ_cost;
00076           pt.total_cost = total_cost;
00077           cost_cloud_->push_back(pt);
00078         }
00079       }
00080     }
00081     pub_.publish(*cost_cloud_);
00082     ROS_DEBUG("Cost PointCloud published");
00083   }
00084 };


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:30