#include <layer.h>

Inheritance diagram for costmap_2d::Layer:

Public Member Functions
virtual void	activate ()
	Restart publishers if they've been stopped.
virtual void	deactivate ()
	Stop publishers.
const std::vector < geometry_msgs::Point > &	getFootprint () const
	Convenience function for layered_costmap_->getFootprint().
std::string	getName () const
void	initialize (LayeredCostmap parent, std::string name, tf::TransformListener tf)
bool	isCurrent () const
	Check to make sure all the data in the layer is up to date. If the layer is not up to date, then it may be unsafe to plan using the data from this layer, and the planner may need to know.
	Layer ()
virtual void	matchSize ()
	Implement this to make this layer match the size of the parent costmap.
virtual void	onFootprintChanged ()
	LayeredCostmap calls this whenever the footprint there changes (via LayeredCostmap::setFootprint()). Override to be notified of changes to the robot's footprint.
virtual void	reset ()
virtual void	updateBounds (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)
	This is called by the LayeredCostmap to poll this plugin as to how much of the costmap it needs to update. Each layer can increase the size of this bounds.
virtual void	updateCosts (Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
	Actually update the underlying costmap, only within the bounds calculated during UpdateBounds().
virtual	~Layer ()
Protected Member Functions
virtual void	onInitialize ()
	This is called at the end of initialize(). Override to implement subclass-specific initialization.
Protected Attributes
bool	current_
bool	enabled_
	Currently this var is managed by subclasses. TODO: make this managed by this class and/or container class.
LayeredCostmap *	layered_costmap_
std::string	name_
tf::TransformListener *	tf_
Private Attributes
std::vector< geometry_msgs::Point >	footprint_spec_

Detailed Description

Definition at line 50 of file layer.h.

Constructor & Destructor Documentation

costmap_2d::Layer::Layer ( )

Definition at line 35 of file layer.cpp.

virtual costmap_2d::Layer::~Layer ( ) [inline, virtual]

Definition at line 82 of file layer.h.

Member Function Documentation

virtual void costmap_2d::Layer::activate ( ) [inline, virtual]

Restart publishers if they've been stopped.

Reimplemented in costmap_2d::ObstacleLayer, and costmap_2d::StaticLayer.

Definition at line 78 of file layer.h.

virtual void costmap_2d::Layer::deactivate ( ) [inline, virtual]

Stop publishers.

Reimplemented in costmap_2d::ObstacleLayer, and costmap_2d::StaticLayer.

Definition at line 75 of file layer.h.

const std::vector< geometry_msgs::Point > & costmap_2d::Layer::getFootprint ( ) const

Convenience function for layered_costmap_->getFootprint().

Definition at line 51 of file layer.cpp.

std::string costmap_2d::Layer::getName ( ) const [inline]

Definition at line 102 of file layer.h.

void costmap_2d::Layer::initialize	(	LayeredCostmap *	parent,
		std::string	name,
		tf::TransformListener *	tf
	)

Definition at line 43 of file layer.cpp.

bool costmap_2d::Layer::isCurrent ( ) const [inline]

Check to make sure all the data in the layer is up to date. If the layer is not up to date, then it may be unsafe to plan using the data from this layer, and the planner may need to know.

A layer's current state should be managed by the protected variable current_.

Returns:: Whether the data in the layer is up to date.

Definition at line 94 of file layer.h.

virtual void costmap_2d::Layer::matchSize ( ) [inline, virtual]

Implement this to make this layer match the size of the parent costmap.

Reimplemented in costmap_2d::InflationLayer, costmap_2d::VoxelLayer, costmap_2d::StaticLayer, and costmap_2d::CostmapLayer.

Definition at line 100 of file layer.h.

virtual void costmap_2d::Layer::onFootprintChanged ( ) [inline, virtual]

LayeredCostmap calls this whenever the footprint there changes (via LayeredCostmap::setFootprint()). Override to be notified of changes to the robot's footprint.

Reimplemented in costmap_2d::InflationLayer.

Definition at line 113 of file layer.h.

virtual void costmap_2d::Layer::onInitialize ( ) [inline, protected, virtual]

This is called at the end of initialize(). Override to implement subclass-specific initialization.

tf_, name_, and layered_costmap_ will all be set already when this is called.

Reimplemented in costmap_2d::InflationLayer, costmap_2d::VoxelLayer, costmap_2d::ObstacleLayer, and costmap_2d::StaticLayer.

Definition at line 120 of file layer.h.

virtual void costmap_2d::Layer::reset ( ) [inline, virtual]

Reimplemented in costmap_2d::InflationLayer, costmap_2d::VoxelLayer, costmap_2d::ObstacleLayer, and costmap_2d::StaticLayer.

Definition at line 80 of file layer.h.

virtual void costmap_2d::Layer::updateBounds	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)		`[inline, virtual]`

This is called by the LayeredCostmap to poll this plugin as to how much of the costmap it needs to update. Each layer can increase the size of this bounds.

For more details, see "Layered Costmaps for Context-Sensitive Navigation", by Lu et. Al, IROS 2014.

Reimplemented in costmap_2d::InflationLayer, costmap_2d::VoxelLayer, costmap_2d::ObstacleLayer, and costmap_2d::StaticLayer.

Definition at line 65 of file layer.h.