Inheritance diagram for furniture_layer_namespace::FurnitureLayer:

Public Member Functions
	FurnitureLayer ()
bool	isDiscretized ()
virtual void	matchSize ()
virtual void	onInitialize ()
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)
Private Member Functions
void	getInitialObstacles ()
	update map with initial positions of furniture obstacles
void	reconfigureCB (costmap_2d::GenericPluginConfig &config, uint32_t level)
void	updateFurnitureCallback (const rail_ceiling::Obstacles::ConstPtr &obs)
	update furniture polygons for use in localization and navigation/path planning
Private Attributes
dynamic_reconfigure::Server < costmap_2d::GenericPluginConfig > *	dsrv_
ros::ServiceClient	initialObstaclesClient
ros::Publisher	localizationGridPublisher
std::vector < rail_ceiling::Obstacle >	localizationObstacles
ros::Publisher	localObstaclesPublisher
ros::NodeHandle	n
std::vector < rail_ceiling::Obstacle >	navigationObstacles
ros::Subscriber	obstacleSubscriber
double	prevMaxX
double	prevMaxY
double	prevMinX
double	prevMinY
bool	updateReceived

Detailed Description

Definition at line 28 of file furniture_layer.h.

Constructor & Destructor Documentation

furniture_layer_namespace::FurnitureLayer::FurnitureLayer ( )

Definition at line 26 of file furniture_layer.cpp.

void furniture_layer_namespace::FurnitureLayer::getInitialObstacles ( ) [private]

update map with initial positions of furniture obstacles

Any updates from a furniture tracking node that occur before navigation is started will also be received using this function.

Definition at line 60 of file furniture_layer.cpp.

bool furniture_layer_namespace::FurnitureLayer::isDiscretized ( ) [inline]

Definition at line 36 of file furniture_layer.h.

void furniture_layer_namespace::FurnitureLayer::matchSize ( ) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 151 of file furniture_layer.cpp.

void furniture_layer_namespace::FurnitureLayer::onInitialize ( ) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 28 of file furniture_layer.cpp.

void furniture_layer_namespace::FurnitureLayer::reconfigureCB	(	costmap_2d::GenericPluginConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 158 of file furniture_layer.cpp.

void furniture_layer_namespace::FurnitureLayer::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 163 of file furniture_layer.cpp.

void furniture_layer_namespace::FurnitureLayer::updateCosts	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)		`[virtual]`