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00038 #ifndef COSTMAP_2D_STATIC_LAYER_H_
00039 #define COSTMAP_2D_STATIC_LAYER_H_
00040
00041 #include <ros/ros.h>
00042 #include <costmap_2d/costmap_layer.h>
00043 #include <costmap_2d/layered_costmap.h>
00044 #include <costmap_2d/GenericPluginConfig.h>
00045 #include <dynamic_reconfigure/server.h>
00046 #include <nav_msgs/OccupancyGrid.h>
00047 #include <map_msgs/OccupancyGridUpdate.h>
00048 #include <message_filters/subscriber.h>
00049
00050 namespace costmap_2d
00051 {
00052
00053 class StaticLayer : public CostmapLayer
00054 {
00055 public:
00056 StaticLayer();
00057 virtual ~StaticLayer();
00058 virtual void onInitialize();
00059 virtual void activate();
00060 virtual void deactivate();
00061 virtual void reset();
00062
00063 virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
00064 double* max_x, double* max_y);
00065 virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
00066
00067 virtual void matchSize();
00068
00069 private:
00076 void incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map);
00077 void incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update);
00078 void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level);
00079
00080 unsigned char interpretValue(unsigned char value);
00081
00082 std::string global_frame_;
00083 std::string map_frame_;
00084 bool subscribe_to_updates_;
00085 bool map_received_;
00086 bool has_updated_data_;
00087 unsigned int x_, y_, width_, height_;
00088 bool track_unknown_space_;
00089 bool use_maximum_;
00090 bool first_map_only_;
00091 bool trinary_costmap_;
00092 ros::Subscriber map_sub_, map_update_sub_;
00093
00094 unsigned char lethal_threshold_, unknown_cost_value_;
00095
00096 dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> *dsrv_;
00097 };
00098
00099 }
00100
00101 #endif // COSTMAP_2D_STATIC_LAYER_H_
costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:15