A recovery behavior that reverts the navigation stack's costmaps to the static map outside of a user-specified region. More...

#include <clear_costmap_recovery.h>

Inheritance diagram for clear_costmap_recovery::ClearCostmapRecovery:

[legend]

List of all members.

Public Member Functions
	ClearCostmapRecovery ()
	Constructor, make sure to call initialize in addition to actually initialize the object.
void	initialize (std::string name, tf::TransformListener tf, costmap_2d::Costmap2DROS global_costmap, costmap_2d::Costmap2DROS *local_costmap)
	Initialization function for the ClearCostmapRecovery recovery behavior.
void	runBehavior ()
	Run the ClearCostmapRecovery recovery behavior. Reverts the costmap to the static map outside of a user-specified window and clears unknown space around the robot.
Private Member Functions
void	clear (costmap_2d::Costmap2DROS *costmap)
void	clearMap (boost::shared_ptr< costmap_2d::CostmapLayer > costmap, double pose_x, double pose_y)
Private Attributes
std::set< std::string >	clearable_layers_
	Layer names which will be cleared.
costmap_2d::Costmap2DROS *	global_costmap_
bool	initialized_
costmap_2d::Costmap2DROS *	local_costmap_
std::string	name_
double	reset_distance_
tf::TransformListener *	tf_

Detailed Description

A recovery behavior that reverts the navigation stack's costmaps to the static map outside of a user-specified region.

Definition at line 50 of file clear_costmap_recovery.h.

Constructor & Destructor Documentation

clear_costmap_recovery::ClearCostmapRecovery::ClearCostmapRecovery ( )

Constructor, make sure to call initialize in addition to actually initialize the object.

Parameters:

@return

Definition at line 47 of file clear_costmap_recovery.cpp.

Member Function Documentation

void clear_costmap_recovery::ClearCostmapRecovery::clear ( costmap_2d::Costmap2DROS * costmap ) [private]

Definition at line 95 of file clear_costmap_recovery.cpp.

void clear_costmap_recovery::ClearCostmapRecovery::clearMap	(	boost::shared_ptr< costmap_2d::CostmapLayer >	costmap,
		double	pose_x,
		double	pose_y
	)		`[private]`

Definition at line 125 of file clear_costmap_recovery.cpp.

void clear_costmap_recovery::ClearCostmapRecovery::initialize	(	std::string	name,
		tf::TransformListener *	tf,
		costmap_2d::Costmap2DROS *	global_costmap,
		costmap_2d::Costmap2DROS *	local_costmap
	)		`[virtual]`

Initialization function for the ClearCostmapRecovery recovery behavior.

Parameters:

tf	A pointer to a transform listener
global_costmap	A pointer to the global_costmap used by the navigation stack
local_costmap	A pointer to the local_costmap used by the navigation stack

Implements nav_core::RecoveryBehavior.

Definition at line 50 of file clear_costmap_recovery.cpp.

void clear_costmap_recovery::ClearCostmapRecovery::runBehavior ( ) [virtual]

Run the ClearCostmapRecovery recovery behavior. Reverts the costmap to the static map outside of a user-specified window and clears unknown space around the robot.

Implements nav_core::RecoveryBehavior.

Definition at line 80 of file clear_costmap_recovery.cpp.