#include <obstacle_layer.h>

Inheritance diagram for costmap_2d::ObstacleLayer:

Public Member Functions
virtual void	activate ()
	Restart publishers if they've been stopped.
void	addStaticObservation (costmap_2d::Observation &obs, bool marking, bool clearing)
void	clearStaticObservations (bool marking, bool clearing)
virtual void	deactivate ()
	Stop publishers.
void	laserScanCallback (const sensor_msgs::LaserScanConstPtr &message, const boost::shared_ptr< costmap_2d::ObservationBuffer > &buffer)
	A callback to handle buffering LaserScan messages.
void	laserScanValidInfCallback (const sensor_msgs::LaserScanConstPtr &message, const boost::shared_ptr< ObservationBuffer > &buffer)
	A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max.
	ObstacleLayer ()
virtual void	onInitialize ()
	This is called at the end of initialize(). Override to implement subclass-specific initialization.
void	pointCloud2Callback (const sensor_msgs::PointCloud2ConstPtr &message, const boost::shared_ptr< costmap_2d::ObservationBuffer > &buffer)
	A callback to handle buffering PointCloud2 messages.
void	pointCloudCallback (const sensor_msgs::PointCloudConstPtr &message, const boost::shared_ptr< costmap_2d::ObservationBuffer > &buffer)
	A callback to handle buffering PointCloud messages.
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 (costmap_2d::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	~ObstacleLayer ()
Protected Member Functions
bool	getClearingObservations (std::vector< costmap_2d::Observation > &clearing_observations) const
	Get the observations used to clear space.
bool	getMarkingObservations (std::vector< costmap_2d::Observation > &marking_observations) const
	Get the observations used to mark space.
virtual void	raytraceFreespace (const costmap_2d::Observation &clearing_observation, double min_x, double min_y, double max_x, double max_y)
	Clear freespace based on one observation.
virtual void	setupDynamicReconfigure (ros::NodeHandle &nh)
void	updateFootprint (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)
void	updateRaytraceBounds (double ox, double oy, double wx, double wy, double range, double min_x, double min_y, double max_x, double max_y)
Protected Attributes
std::vector< boost::shared_ptr < costmap_2d::ObservationBuffer > >	clearing_buffers_
	Used to store observation buffers used for clearing obstacles.
int	combination_method_
dynamic_reconfigure::Server < costmap_2d::ObstaclePluginConfig > *	dsrv_
bool	footprint_clearing_enabled_
std::string	global_frame_
	The global frame for the costmap.
std::vector< boost::shared_ptr < costmap_2d::ObservationBuffer > >	marking_buffers_
	Used to store observation buffers used for marking obstacles.
double	max_obstacle_height_
	Max Obstacle Height.
std::vector< boost::shared_ptr < costmap_2d::ObservationBuffer > >	observation_buffers_
	Used to store observations from various sensors.
std::vector< boost::shared_ptr < tf::MessageFilterBase > >	observation_notifiers_
	Used to make sure that transforms are available for each sensor.
std::vector< boost::shared_ptr < message_filters::SubscriberBase > >	observation_subscribers_
	Used for the observation message filters.
laser_geometry::LaserProjection	projector_
	Used to project laser scans into point clouds.
bool	rolling_window_
std::vector < costmap_2d::Observation >	static_clearing_observations_
std::vector < costmap_2d::Observation >	static_marking_observations_
std::vector< geometry_msgs::Point >	transformed_footprint_
Private Member Functions
void	reconfigureCB (costmap_2d::ObstaclePluginConfig &config, uint32_t level)

Detailed Description

Definition at line 62 of file obstacle_layer.h.

Constructor & Destructor Documentation

costmap_2d::ObstacleLayer::ObstacleLayer ( ) [inline]

Definition at line 65 of file obstacle_layer.h.

costmap_2d::ObstacleLayer::~ObstacleLayer ( ) [virtual]

Definition at line 239 of file obstacle_layer.cpp.

Member Function Documentation

void costmap_2d::ObstacleLayer::activate ( ) [virtual]

Restart publishers if they've been stopped.

Reimplemented from costmap_2d::Layer.

Definition at line 578 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::addStaticObservation	(	costmap_2d::Observation &	obs,
		bool	marking,
		bool	clearing
	)

Definition at line 450 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::clearStaticObservations	(	bool	marking,
		bool	clearing
	)

Definition at line 458 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::deactivate ( ) [virtual]

Stop publishers.

Reimplemented from costmap_2d::Layer.

Definition at line 593 of file obstacle_layer.cpp.

bool costmap_2d::ObstacleLayer::getClearingObservations ( std::vector< costmap_2d::Observation > & clearing_observations ) const [protected]

Get the observations used to clear space.

Parameters:

clearing_observations A reference to a vector that will be populated with the observations

Returns:: True if all the observation buffers are current, false otherwise

Definition at line 482 of file obstacle_layer.cpp.

bool costmap_2d::ObstacleLayer::getMarkingObservations ( std::vector< costmap_2d::Observation > & marking_observations ) const [protected]

Get the observations used to mark space.

Parameters:

marking_observations A reference to a vector that will be populated with the observations

Returns:: True if all the observation buffers are current, false otherwise

Definition at line 466 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::laserScanCallback	(	const sensor_msgs::LaserScanConstPtr &	message,
		const boost::shared_ptr< costmap_2d::ObservationBuffer > &	buffer
	)

A callback to handle buffering LaserScan messages.

Parameters:

message	The message returned from a message notifier
buffer	A pointer to the observation buffer to update

Definition at line 252 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::laserScanValidInfCallback	(	const sensor_msgs::LaserScanConstPtr &	message,
		const boost::shared_ptr< ObservationBuffer > &	buffer
	)

A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max.

Parameters:

message	The message returned from a message notifier
buffer	A pointer to the observation buffer to update

Definition at line 277 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::onInitialize ( ) [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 from costmap_2d::Layer.

Reimplemented in costmap_2d::VoxelLayer.

Definition at line 54 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::pointCloud2Callback	(	const sensor_msgs::PointCloud2ConstPtr &	message,
		const boost::shared_ptr< costmap_2d::ObservationBuffer > &	buffer
	)

A callback to handle buffering PointCloud2 messages.

Parameters:

message	The message returned from a message notifier
buffer	A pointer to the observation buffer to update

Definition at line 331 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::pointCloudCallback	(	const sensor_msgs::PointCloudConstPtr &	message,
		const boost::shared_ptr< costmap_2d::ObservationBuffer > &	buffer
	)

A callback to handle buffering PointCloud messages.

Parameters:

message	The message returned from a message notifier
buffer	A pointer to the observation buffer to update

Definition at line 314 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::raytraceFreespace	(	const costmap_2d::Observation &	clearing_observation,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)		`[protected, virtual]`

Clear freespace based on one observation.

Parameters:

clearing_observation	The observation used to raytrace
min_x
min_y
max_x
max_y

Reimplemented in costmap_2d::VoxelLayer.

Definition at line 498 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::reconfigureCB	(	costmap_2d::ObstaclePluginConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 244 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::reset ( ) [virtual]

Reimplemented from costmap_2d::Layer.

Reimplemented in costmap_2d::VoxelLayer.

Definition at line 612 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::setupDynamicReconfigure ( ros::NodeHandle & nh ) [protected, virtual]

Reimplemented in costmap_2d::VoxelLayer.

Definition at line 231 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::updateBounds	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)		`[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 from costmap_2d::Layer.

Reimplemented in costmap_2d::VoxelLayer.

Definition at line 340 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::updateCosts	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)		`[virtual]`

Actually update the underlying costmap, only within the bounds calculated during UpdateBounds().

Reimplemented from costmap_2d::Layer.

Definition at line 427 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::updateFootprint	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)		`[protected]`

Definition at line 415 of file obstacle_layer.cpp.

void costmap_2d::ObstacleLayer::updateRaytraceBounds	(	double	ox,
		double	oy,
		double	wx,
		double	wy,
		double	range,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)		`[protected]`