This abstract class defines the interface for plugins that convert the costmap into polygon types. More...

#include <costmap_converter_interface.h>

Inheritance diagram for costmap_converter::BaseCostmapToPolygons:

Public Member Functions
virtual void	compute ()=0
	This method performs the actual work (conversion of the costmap to polygons)
virtual ObstacleArrayConstPtr	getObstacles ()
	Get a shared instance of the current obstacle container If this method is not overwritten by the underlying plugin, the obstacle container just imports getPolygons().
virtual PolygonContainerConstPtr	getPolygons ()
	Get a shared instance of the current polygon container.
virtual void	initialize (ros::NodeHandle nh)=0
	Initialize the plugin.
virtual void	setCostmap2D (costmap_2d::Costmap2D *costmap)=0
	Pass a pointer to the costap to the plugin.
virtual void	setOdomTopic (const std::string &odom_topic)
	Set name of robot's odometry topic.
void	startWorker (ros::Rate rate, costmap_2d::Costmap2D *costmap, bool spin_thread=false)
	Instantiate a worker that repeatedly coverts the most recent costmap to polygons. The worker is implemented as a timer event that is invoked at a specific `rate`. The passed `costmap` pointer must be valid at the complete time and must be lockable. By specifying the argument `spin_thread` the timer event is invoked in a separate thread and callback queue or otherwise it is called from the global callback queue (of the node in which the plugin is used).
void	stopWorker ()
	Stop the worker that repeatedly converts the costmap to polygons.
virtual void	updateCostmap2D ()=0
	Get updated data from the previously set Costmap2D.
virtual	~BaseCostmapToPolygons ()
	Destructor.
Protected Member Functions
	BaseCostmapToPolygons ()
	Protected constructor that should be called by subclasses.
void	spinThread ()
	Blocking method that checks for new timer events (active if startWorker() is called with spin_thread enabled)
void	workerCallback (const ros::TimerEvent &)
	The callback of the worker that performs the actual work (updating the costmap and converting it to polygons)
Private Attributes
ros::CallbackQueue	callback_queue_
bool	need_to_terminate_
ros::NodeHandle	nh_
boost::thread *	spin_thread_
boost::mutex	terminate_mutex_
ros::Timer	worker_timer_

Detailed Description

This abstract class defines the interface for plugins that convert the costmap into polygon types.

Plugins must accept a costmap_2d::Costmap2D datatype as information source. The interface provides two different use cases: 1. Manual call to conversion routines: setCostmap2D(), compute() and getPolygons() (in subsequent calls setCostmap2D() can be substituted by updateCostmap2D()) 2. Repeatedly process costmap with a specific rate (startWorker() and stopWorker()): Make sure that the costmap is valid while the worker is active (you can specify your own spinner or activate a threaded spinner). Costmaps can be obtained by invoking getPolygons().

Todo:: allow different plugins for both static and dynamic obstacles (arbitrary combinations)

Definition at line 79 of file costmap_converter_interface.h.

Constructor & Destructor Documentation

virtual costmap_converter::BaseCostmapToPolygons::~BaseCostmapToPolygons ( ) [inline, virtual]

Destructor.

Definition at line 92 of file costmap_converter_interface.h.

costmap_converter::BaseCostmapToPolygons::BaseCostmapToPolygons ( ) [inline, protected]

Protected constructor that should be called by subclasses.

Definition at line 224 of file costmap_converter_interface.h.

Member Function Documentation

virtual void costmap_converter::BaseCostmapToPolygons::compute ( ) [pure virtual]

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

Implemented in costmap_converter::CostmapToPolygonsDBSMCCH, costmap_converter::CostmapToDynamicObstacles, costmap_converter::CostmapToLinesDBSRANSAC, costmap_converter::CostmapToLinesDBSMCCH, and costmap_converter::CostmapToPolygonsDBSConcaveHull.

virtual ObstacleArrayConstPtr costmap_converter::BaseCostmapToPolygons::getObstacles ( ) [inline, virtual]

Get a shared instance of the current obstacle container If this method is not overwritten by the underlying plugin, the obstacle container just imports getPolygons().

Remarks:: If compute() or startWorker() has not been called before, this method returns an empty instance!

Warning:: The underlying plugin must ensure that this method is thread safe.

Returns:: Shared instance of the current obstacle container

See also:: getPolygons

Reimplemented in costmap_converter::CostmapToDynamicObstacles.

Definition at line 137 of file costmap_converter_interface.h.

virtual PolygonContainerConstPtr costmap_converter::BaseCostmapToPolygons::getPolygons ( ) [inline, virtual]

Get a shared instance of the current polygon container.

If this method is not implemented by any subclass (plugin) the returned shared pointer is empty.

Remarks:: If compute() or startWorker() has not been called before, this method returns an empty instance!

Warning:: The underlying plugin must ensure that this method is thread safe.

Returns:: Shared instance of the current polygon container

Reimplemented in costmap_converter::CostmapToPolygonsDBSMCCH.

Definition at line 127 of file costmap_converter_interface.h.

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

Initialize the plugin.

Parameters:

nh	Nodehandle that defines the namespace for parameters

Implemented in costmap_converter::CostmapToPolygonsDBSMCCH, costmap_converter::CostmapToDynamicObstacles, costmap_converter::CostmapToLinesDBSRANSAC, costmap_converter::CostmapToLinesDBSMCCH, and costmap_converter::CostmapToPolygonsDBSConcaveHull.

virtual void costmap_converter::BaseCostmapToPolygons::setCostmap2D ( costmap_2d::Costmap2D * costmap ) [pure virtual]

Pass a pointer to the costap to the plugin.

Warning:: The plugin should handle the costmap's mutex locking.

See also:: updateCostmap2D

Parameters:

costmap Pointer to the costmap2d source

Implemented in costmap_converter::CostmapToPolygonsDBSMCCH, and costmap_converter::CostmapToDynamicObstacles.

virtual void costmap_converter::BaseCostmapToPolygons::setOdomTopic ( const std::string & odom_topic ) [inline, virtual]

Set name of robot's odometry topic.

Some plugins might require odometry information to compensate the robot's ego motion

Parameters:

odom_topic topic name

Reimplemented in costmap_converter::CostmapToDynamicObstacles.

Definition at line 159 of file costmap_converter_interface.h.

void costmap_converter::BaseCostmapToPolygons::spinThread ( ) [inline, protected]

Blocking method that checks for new timer events (active if startWorker() is called with spin_thread enabled)

Definition at line 229 of file costmap_converter_interface.h.

void costmap_converter::BaseCostmapToPolygons::startWorker	(	ros::Rate	rate,
		costmap_2d::Costmap2D *	costmap,
		bool	spin_thread = `false`
	)		`[inline]`

Instantiate a worker that repeatedly coverts the most recent costmap to polygons. The worker is implemented as a timer event that is invoked at a specific rate. The passed costmap pointer must be valid at the complete time and must be lockable. By specifying the argument spin_thread the timer event is invoked in a separate thread and callback queue or otherwise it is called from the global callback queue (of the node in which the plugin is used).

Parameters:

rate	The rate that specifies how often the costmap should be updated
costmap	Pointer to the underlying costmap (must be valid and lockable as long as the worker is active
spin_thread	if `true`,the timer is invoked in a separate thread, otherwise in the default callback queue)

Definition at line 172 of file costmap_converter_interface.h.

void costmap_converter::BaseCostmapToPolygons::stopWorker ( ) [inline]

Stop the worker that repeatedly converts the costmap to polygons.

Definition at line 205 of file costmap_converter_interface.h.

virtual void costmap_converter::BaseCostmapToPolygons::updateCostmap2D ( ) [pure virtual]

Get updated data from the previously set Costmap2D.