This class converts the costmap_2d into a set of non-convex polygons (and points) More...

#include <costmap_to_polygons_concave.h>

Inheritance diagram for costmap_converter::CostmapToPolygonsDBSConcaveHull:

Public Member Functions
virtual void	compute ()
	This method performs the actual work (conversion of the costmap to polygons)
	CostmapToPolygonsDBSConcaveHull ()
	Constructor.
virtual void	initialize (ros::NodeHandle nh)
	Initialize the plugin.
virtual	~CostmapToPolygonsDBSConcaveHull ()
	Destructor.
Protected Member Functions
template<typename Point1 , typename Point2 , typename Point3 , typename Point4 >
bool	checkLineIntersection (const Point1 &line1_start, const Point2 &line1_end, const Point3 &line2_start, const Point4 &line2_end)
template<typename PointHull , typename Point1 , typename Point2 , typename Point3 , typename Point4 >
bool	checkLineIntersection (const std::vector< PointHull > &hull, const Point1 &current_line_start, const Point2 &current_line_end, const Point3 &test_line_start, const Point4 &test_line_end)
void	concaveHull (std::vector< KeyPoint > &cluster, double depth, geometry_msgs::Polygon &polygon)
	Compute the concave hull for a single cluster.
void	concaveHullClusterCut (std::vector< KeyPoint > &cluster, double depth, geometry_msgs::Polygon &polygon)
template<typename PointLine , typename PointCluster , typename PointHull >
std::size_t	findNearestInnerPoint (PointLine line_start, PointLine line_end, const std::vector< PointCluster > &cluster, const std::vector< PointHull > &hull, bool *found)
Protected Attributes
double	concave_hull_depth_
Private Member Functions
void	reconfigureCB (CostmapToPolygonsDBSConcaveHullConfig &config, uint32_t level)
	Callback for the dynamic_reconfigure node.
Private Attributes
dynamic_reconfigure::Server < CostmapToPolygonsDBSConcaveHullConfig > *	dynamic_recfg_
	Dynamic reconfigure server to allow config modifications at runtime.

Detailed Description

This class converts the costmap_2d into a set of non-convex polygons (and points)

All single points that do not define a cluster (noise) are also treated as polygon (represented as a single vertex)

Todo:: change the class hierarchy to a clearer and more generic one

Definition at line 60 of file costmap_to_polygons_concave.h.

Constructor & Destructor Documentation

costmap_converter::CostmapToPolygonsDBSConcaveHull::CostmapToPolygonsDBSConcaveHull ( )

Constructor.

Definition at line 48 of file costmap_to_polygons_concave.cpp.

costmap_converter::CostmapToPolygonsDBSConcaveHull::~CostmapToPolygonsDBSConcaveHull ( ) [virtual]

Destructor.

Definition at line 53 of file costmap_to_polygons_concave.cpp.

Member Function Documentation

template<typename Point1 , typename Point2 , typename Point3 , typename Point4 >

bool costmap_converter::CostmapToPolygonsDBSConcaveHull::checkLineIntersection	(	const Point1 &	line1_start,
		const Point2 &	line1_end,
		const Point3 &	line2_start,
		const Point4 &	line2_end
	)		`[protected]`

Definition at line 168 of file costmap_to_polygons_concave.h.

template<typename PointHull , typename Point1 , typename Point2 , typename Point3 , typename Point4 >

bool costmap_converter::CostmapToPolygonsDBSConcaveHull::checkLineIntersection	(	const std::vector< PointHull > &	hull,
		const Point1 &	current_line_start,
		const Point2 &	current_line_end,
		const Point3 &	test_line_start,
		const Point4 &	test_line_end
	)		`[protected]`

Definition at line 181 of file costmap_to_polygons_concave.h.

void costmap_converter::CostmapToPolygonsDBSConcaveHull::compute ( ) [virtual]

This method performs the actual work (conversion of the costmap to polygons)

Reimplemented from costmap_converter::CostmapToPolygonsDBSMCCH.

Definition at line 83 of file costmap_to_polygons_concave.cpp.

void costmap_converter::CostmapToPolygonsDBSConcaveHull::concaveHull	(	std::vector< KeyPoint > &	cluster,
		double	depth,
		geometry_msgs::Polygon &	polygon
	)		`[protected]`

Compute the concave hull for a single cluster.

Remarks:: The last point is the same as the first one

Parameters:

	cluster	list of keypoints that should be converted into a polygon
	depth	Smaller depth: sharper surface, depth -> high value: convex hull
[out]	polygon	the resulting convex polygon

Definition at line 114 of file costmap_to_polygons_concave.cpp.

void costmap_converter::CostmapToPolygonsDBSConcaveHull::concaveHullClusterCut	(	std::vector< KeyPoint > &	cluster,
		double	depth,
		geometry_msgs::Polygon &	polygon
	)		`[protected]`

Definition at line 158 of file costmap_to_polygons_concave.cpp.

template<typename PointLine , typename PointCluster , typename PointHull >

std::size_t costmap_converter::CostmapToPolygonsDBSConcaveHull::findNearestInnerPoint	(	PointLine	line_start,
		PointLine	line_end,
		const std::vector< PointCluster > &	cluster,
		const std::vector< PointHull > &	hull,
		bool *	found
	)		`[protected]`

Definition at line 134 of file costmap_to_polygons_concave.h.

void costmap_converter::CostmapToPolygonsDBSConcaveHull::initialize ( ros::NodeHandle nh ) [virtual]

Initialize the plugin.

Parameters:

nh	Nodehandle that defines the namespace for parameters

Reimplemented from costmap_converter::CostmapToPolygonsDBSMCCH.

Definition at line 59 of file costmap_to_polygons_concave.cpp.

void costmap_converter::CostmapToPolygonsDBSConcaveHull::reconfigureCB	(	CostmapToPolygonsDBSConcaveHullConfig &	config,
		uint32_t	level
	)		`[private]`

Callback for the dynamic_reconfigure node.

This callback allows to modify parameters dynamically at runtime without restarting the node

Parameters:

config	Reference to the dynamic reconfigure config
level	Dynamic reconfigure level

Definition at line 215 of file costmap_to_polygons_concave.cpp.

Member Data Documentation

double costmap_converter::CostmapToPolygonsDBSConcaveHull::concave_hull_depth_ [protected]

Definition at line 114 of file costmap_to_polygons_concave.h.

dynamic_reconfigure::Server<CostmapToPolygonsDBSConcaveHullConfig>* costmap_converter::CostmapToPolygonsDBSConcaveHull::dynamic_recfg_ [private]

Dynamic reconfigure server to allow config modifications at runtime.

Reimplemented from costmap_converter::CostmapToPolygonsDBSMCCH.

Definition at line 127 of file costmap_to_polygons_concave.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation