A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller. More...

#include <map_grid.h>

Public Member Functions
void	commonInit ()
	Utility to share initialization code across constructors.
void	computeGoalDistance (std::queue< MapCell * > &dist_queue, const costmap_2d::Costmap2D &costmap)
	Compute the distance from each cell in the local map grid to the local goal point.
void	computeTargetDistance (std::queue< MapCell * > &dist_queue, const costmap_2d::Costmap2D &costmap)
	Compute the distance from each cell in the local map grid to the planned path.
MapCell &	getCell (unsigned int x, unsigned int y)
size_t	getIndex (int x, int y)
	Returns a 1D index into the MapCell array for a 2D index.
	MapGrid ()
	Creates a 0x0 map by default.
	MapGrid (unsigned int size_x, unsigned int size_y)
	Creates a map of size_x by size_y.
	MapGrid (const MapGrid &mg)
	Copy constructor for a MapGrid.
double	obstacleCosts ()
MapCell &	operator() (unsigned int x, unsigned int y)
	Returns a map cell accessed by (col, row)
MapCell	operator() (unsigned int x, unsigned int y) const
	Returns a map cell accessed by (col, row)
MapGrid &	operator= (const MapGrid &mg)
	Assignment operator for a MapGrid.
void	resetPathDist ()
	reset path distance fields for all cells
void	setLocalGoal (const costmap_2d::Costmap2D &costmap, const std::vector< geometry_msgs::PoseStamped > &global_plan)
	Update what cell is considered the next local goal.
void	setTargetCells (const costmap_2d::Costmap2D &costmap, const std::vector< geometry_msgs::PoseStamped > &global_plan)
	Update what cells are considered path based on the global plan.
void	sizeCheck (unsigned int size_x, unsigned int size_y)
	check if we need to resize
double	unreachableCellCosts ()
bool	updatePathCell (MapCell current_cell, MapCell check_cell, const costmap_2d::Costmap2D &costmap)
	Used to update the distance of a cell in path distance computation.
	~MapGrid ()
	Destructor for a MapGrid.
Static Public Member Functions
static void	adjustPlanResolution (const std::vector< geometry_msgs::PoseStamped > &global_plan_in, std::vector< geometry_msgs::PoseStamped > &global_plan_out, double resolution)
Public Attributes
double	goal_x_
double	goal_y_
	The goal distance was last computed from.
unsigned int	size_x_
unsigned int	size_y_
	The dimensions of the grid.
Private Attributes
std::vector< MapCell >	map_
	Storage for the MapCells.

Detailed Description

A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller.

Definition at line 52 of file map_grid.h.

Constructor & Destructor Documentation

base_local_planner::MapGrid::MapGrid ( )

Creates a 0x0 map by default.

Definition at line 40 of file map_grid.cpp.

base_local_planner::MapGrid::MapGrid	(	unsigned int	size_x,
		unsigned int	size_y
	)

Creates a map of size_x by size_y.

Parameters:

size_x	The width of the map
size_y	The height of the map

Definition at line 45 of file map_grid.cpp.

base_local_planner::MapGrid::~MapGrid ( ) [inline]

Destructor for a MapGrid.

Definition at line 94 of file map_grid.h.

base_local_planner::MapGrid::MapGrid ( const MapGrid & mg )

Copy constructor for a MapGrid.

Parameters:

mg	The MapGrid to copy

Definition at line 51 of file map_grid.cpp.

Member Function Documentation

void base_local_planner::MapGrid::adjustPlanResolution	(	const std::vector< geometry_msgs::PoseStamped > &	global_plan_in,
		std::vector< geometry_msgs::PoseStamped > &	global_plan_out,
		double	resolution
	)		`[static]`

increase global plan resolution to match that of the costmap by adding points linearly between global plan points This is necessary where global planners produce plans with few points.

Parameters:

global_plan_in	input
global_plan_output	output
resolution	desired distance between waypoints

Definition at line 133 of file map_grid.cpp.

void base_local_planner::MapGrid::commonInit ( )

Utility to share initialization code across constructors.

Definition at line 57 of file map_grid.cpp.

void base_local_planner::MapGrid::computeGoalDistance	(	std::queue< MapCell * > &	dist_queue,
		const costmap_2d::Costmap2D &	costmap
	)

Compute the distance from each cell in the local map grid to the local goal point.

Parameters:

goal_queue A queue containing the local goal cell

void base_local_planner::MapGrid::computeTargetDistance	(	std::queue< MapCell * > &	dist_queue,
		const costmap_2d::Costmap2D &	costmap
	)

Compute the distance from each cell in the local map grid to the planned path.

Parameters:

dist_queue A queue of the initial cells on the path

Definition at line 256 of file map_grid.cpp.

MapCell& base_local_planner::MapGrid::getCell	(	unsigned int	x,
		unsigned int	y
	)		`[inline]`

Definition at line 87 of file map_grid.h.

size_t base_local_planner::MapGrid::getIndex	(	int	x,
		int	y
	)

Returns a 1D index into the MapCell array for a 2D index.

Parameters:

x	The desired x coordinate
y	The desired y coordinate

Returns:: The associated 1D index

Definition at line 73 of file map_grid.cpp.

double base_local_planner::MapGrid::obstacleCosts ( ) [inline]

return a value that indicates cell is in obstacle

Definition at line 136 of file map_grid.h.

MapCell& base_local_planner::MapGrid::operator()	(	unsigned int	x,
		unsigned int	y
	)		`[inline]`

Returns a map cell accessed by (col, row)

Parameters:

x	The x coordinate of the cell
y	The y coordinate of the cell

Returns:: A reference to the desired cell

Definition at line 73 of file map_grid.h.

MapCell base_local_planner::MapGrid::operator()	(	unsigned int	x,
		unsigned int	y
	)		const `[inline]`

Returns a map cell accessed by (col, row)

Parameters:

x	The x coordinate of the cell
y	The y coordinate of the cell

Returns:: A copy of the desired cell

Definition at line 83 of file map_grid.h.

MapGrid & base_local_planner::MapGrid::operator= ( const MapGrid & mg )

Assignment operator for a MapGrid.

Parameters:

mg	The MapGrid to assign from

Definition at line 77 of file map_grid.cpp.

void base_local_planner::MapGrid::resetPathDist ( )

reset path distance fields for all cells

Definition at line 125 of file map_grid.cpp.

void base_local_planner::MapGrid::setLocalGoal	(	const costmap_2d::Costmap2D &	costmap,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan
	)

Update what cell is considered the next local goal.

Definition at line 211 of file map_grid.cpp.

void base_local_planner::MapGrid::setTargetCells	(	const costmap_2d::Costmap2D &	costmap,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan
	)

Update what cells are considered path based on the global plan.

Definition at line 172 of file map_grid.cpp.

void base_local_planner::MapGrid::sizeCheck	(	unsigned int	size_x,
		unsigned int	size_y
	)

check if we need to resize

Parameters:

size_x	The desired width
size_y	The desired height

Definition at line 84 of file map_grid.cpp.

double base_local_planner::MapGrid::unreachableCellCosts ( ) [inline]

returns a value indicating cell was not reached by wavefront propagation of set cells. (is behind walls, regarding the region covered by grid)

Definition at line 144 of file map_grid.h.

bool base_local_planner::MapGrid::updatePathCell	(	MapCell *	current_cell,
		MapCell *	check_cell,
		const costmap_2d::Costmap2D &	costmap
	)		`[inline]`

Used to update the distance of a cell in path distance computation.

Parameters:

current_cell	The cell we're currently in
check_cell	The cell to be updated

Definition at line 103 of file map_grid.cpp.

Member Data Documentation

double base_local_planner::MapGrid::goal_x_

Definition at line 189 of file map_grid.h.

double base_local_planner::MapGrid::goal_y_

The goal distance was last computed from.

Definition at line 189 of file map_grid.h.

std::vector<MapCell> base_local_planner::MapGrid::map_ [private]

Storage for the MapCells.

Definition at line 195 of file map_grid.h.

unsigned int base_local_planner::MapGrid::size_x_

Definition at line 191 of file map_grid.h.

unsigned int base_local_planner::MapGrid::size_y_

The dimensions of the grid.

Definition at line 191 of file map_grid.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation