grid_map::Costmap2DConverter< MapType, TranslationTable > Class Template Reference

Convert Costmap2DRos objects into cost or grid maps. More...

#include <Costmap2DConverter.hpp>

List of all members.

Public Member Functions
bool	addLayerFromCostmap2D (const costmap_2d::Costmap2D &costmap2d, const std::string &layer, MapType &outputMap)
bool	addLayerFromCostmap2D (costmap_2d::Costmap2DROS &costmap2d, const std::string &layer, MapType &outputMap)
bool	addLayerFromCostmap2DAtRobotPose (costmap_2d::Costmap2DROS &costmap2d, const std::string &layer, MapType &outputMap)
	Costmap2DConverter ()
std::string	errorMessage () const
	Human readable error message string.
void	initializeFromCostmap2D (costmap_2d::Costmap2DROS &costmap2d, MapType &outputMap)
void	initializeFromCostmap2D (const costmap_2d::Costmap2D &costmap2d, MapType &outputMap)
bool	initializeFromCostmap2DAtRobotPose (costmap_2d::Costmap2DROS &costmap2d, const Length &length, MapType &outputMap)
virtual	~Costmap2DConverter ()
Private Attributes
std::vector< typename MapType::DataType >	costTranslationTable_
std::string	errorMessage_

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Detailed Description

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>
class grid_map::Costmap2DConverter< MapType, TranslationTable >

Convert Costmap2DRos objects into cost or grid maps.

Template Parameters:

MapType	: either grid_map::GridMap or cost_map::CostMap
TranslationTable	: class that creates a cost -> new type conversion table

See also:

Costmap2DDirectTranslationTable, Costmap2DCenturyTranslationTable

Definition at line 91 of file Costmap2DConverter.hpp.

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Constructor & Destructor Documentation

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

grid_map::Costmap2DConverter< MapType, TranslationTable >::Costmap2DConverter

(

)

[inline]

Initializes the cost translation table with the default policy for the template map type class.

Definition at line 99 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

virtual grid_map::Costmap2DConverter< MapType, TranslationTable >::~Costmap2DConverter

(

)

[inline, virtual]

Definition at line 104 of file Costmap2DConverter.hpp.

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Member Function Documentation

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

bool grid_map::Costmap2DConverter< MapType, TranslationTable >::addLayerFromCostmap2D	(	const costmap_2d::Costmap2D &	costmap2d,
		const std::string &	layer,
		MapType &	outputMap
	)		[inline]

Load the costmap2d into the specified layer.

Warning:

This does not lock the costmap2d object, you should take care to do so from outside this function.

Parameters:

costmap2d	from this costmap type object.
layer	the name of the layer to insert.
outputMap	to this costmap type object.

Returns:

true if successful, false otherwise.

Definition at line 132 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

bool grid_map::Costmap2DConverter< MapType, TranslationTable >::addLayerFromCostmap2D	(	costmap_2d::Costmap2DROS &	costmap2d,
		const std::string &	layer,
		MapType &	outputMap
	)		[inline]

Load the costmap2d into the specified layer.

Warning:

This does not lock the costmap2d object, you should take care to do so from outside this function.

Parameters:

costmap2d	from this costmap type object.
layer	the name of the layer to insert.
outputMap	to this costmap type object.

Returns:

true if successful, false otherwise.

Definition at line 168 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

bool grid_map::Costmap2DConverter< MapType, TranslationTable >::addLayerFromCostmap2DAtRobotPose	(	costmap_2d::Costmap2DROS &	costmap2d,
		const std::string &	layer,
		MapType &	outputMap
	)		[inline]

Fill a layer in the output map with data from the subwindow centered at the robot pose.

Warning:

This does not lock the costmap2d object, you should take care to do so from outside this function in scope with any initializeFromCostmap2DAtRobotPose calls you wish to make.

Parameters:

costmap2d	the underlying Costmap2DROS object.
layer	the layer name to add.
outputMap	the initialized and filled in map output map.

Definition at line 264 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

std::string grid_map::Costmap2DConverter< MapType, TranslationTable >::errorMessage

(

)

const [inline]

Human readable error message string.

Can be used to get a human readable description of the error type after one of the class methods has failed.

Returns:

std::string

Definition at line 312 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

void grid_map::Costmap2DConverter< MapType, TranslationTable >::initializeFromCostmap2D	(	costmap_2d::Costmap2DROS &	costmap2d,
		MapType &	outputMap
	)		[inline]

Definition at line 108 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

void grid_map::Costmap2DConverter< MapType, TranslationTable >::initializeFromCostmap2D	(	const costmap_2d::Costmap2D &	costmap2d,
		MapType &	outputMap
	)		[inline]

Definition at line 114 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

bool grid_map::Costmap2DConverter< MapType, TranslationTable >::initializeFromCostmap2DAtRobotPose	(	costmap_2d::Costmap2DROS &	costmap2d,
		const Length &	length,
		MapType &	outputMap
	)		[inline]

Initialize the output map at the robot pose of the underlying Costmap2DROS object.

Note: This needs some beyond just fixing the center of the output map to the robot pose itself. To avoid introducing error, you want to shift the center so the underlying costmap2d cells align with the newly created map object. This does that here.

Warning:

this does not lock the costmap2d object, you should take care to do so from outside this function in scope with any addLayerFromCostmap2DAtRobotPose calls you wish to make.

Parameters:

costmap2d	: the underlying Costmap2DROS object
geometry,:	size of the subwindow to snapshot around the robot pose
outputMap	: initialise the output map with the required parameters

Definition at line 189 of file Costmap2DConverter.hpp.

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Member Data Documentation

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

std::vector<typename MapType::DataType> grid_map::Costmap2DConverter< MapType, TranslationTable >::costTranslationTable_ [private]

Definition at line 315 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

std::string grid_map::Costmap2DConverter< MapType, TranslationTable >::errorMessage_ [private]

Definition at line 316 of file Costmap2DConverter.hpp.

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

• Costmap2DConverter.hpp