This class converts the costmap_2d into a set of lines (and points) More...

#include <costmap_to_lines_convex_hull.h>

Inheritance diagram for costmap_converter::CostmapToLinesDBSMCCH:

Public Member Functions
virtual void	compute ()
	This method performs the actual work (conversion of the costmap to polygons)
	CostmapToLinesDBSMCCH ()
	Constructor.
virtual void	initialize (ros::NodeHandle nh)
	Initialize the plugin.
virtual	~CostmapToLinesDBSMCCH ()
	Destructor.
Protected Member Functions
void	extractPointsAndLines (std::vector< KeyPoint > &cluster, const geometry_msgs::Polygon &polygon, std::back_insert_iterator< std::vector< geometry_msgs::Polygon > > lines)
	Extract points and lines from a given cluster by checking all keypoint pairs of the convex hull for a minimum number of support points.
Protected Attributes
int	min_support_pts_
double	support_pts_max_dist_
double	support_pts_max_dist_inbetween_
Private Member Functions
void	reconfigureCB (CostmapToLinesDBSMCCHConfig &config, uint32_t level)
	Callback for the dynamic_reconfigure node.
Private Attributes
dynamic_reconfigure::Server < CostmapToLinesDBSMCCHConfig > *	dynamic_recfg_
	Dynamic reconfigure server to allow config modifications at runtime.

Detailed Description

This class converts the costmap_2d into a set of lines (and points)

The conversion is performed in three stages: 1. Clusters in the costmap are collected using the DBSCAN Algorithm (https://en.wikipedia.org/wiki/DBSCAN) Reference: Ester, Martin; Kriegel, Hans-Peter; Sander, Jörg; Xu, Xiaowei, A density-based algorithm for discovering clusters in large spatial databases with noise. Proceedings of the Second International Conference on Knowledge Discovery and Data Mining. AAAI Press. 1996. pp. 226–231. ISBN 1-57735-004-9.

2. In the subsequent stage, the convex hull of each cluster is determined using the monotone chain algorithm aka Andrew's algorithm: C++ implementation example: http://www.algorithmist.com/index.php/Monotone_Chain_Convex_Hull ( GNU Free Documentation License 1.2 ) Reference: A. M. Andrew, "Another Efficient Algorithm for Convex Hulls in Two Dimensions", Info. Proc. Letters 9, 216-219 (1979).

3. In the third step extract lines from each polygon (convex hull) if there exist at least a predefined number of support points.

The output is a container of polygons (but each polygon does only contain a single vertex (point) or two vertices (line)

Definition at line 69 of file costmap_to_lines_convex_hull.h.

Constructor & Destructor Documentation

costmap_converter::CostmapToLinesDBSMCCH::CostmapToLinesDBSMCCH ( )

Constructor.

Definition at line 50 of file costmap_to_lines_convex_hull.cpp.

costmap_converter::CostmapToLinesDBSMCCH::~CostmapToLinesDBSMCCH ( ) [virtual]

Destructor.

Definition at line 55 of file costmap_to_lines_convex_hull.cpp.

Member Function Documentation

void costmap_converter::CostmapToLinesDBSMCCH::compute ( ) [virtual]

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

Reimplemented from costmap_converter::CostmapToPolygonsDBSMCCH.

Definition at line 99 of file costmap_to_lines_convex_hull.cpp.

void costmap_converter::CostmapToLinesDBSMCCH::extractPointsAndLines	(	std::vector< KeyPoint > &	cluster,
		const geometry_msgs::Polygon &	polygon,
		std::back_insert_iterator< std::vector< geometry_msgs::Polygon > >	lines
	)		`[protected]`

Extract points and lines from a given cluster by checking all keypoint pairs of the convex hull for a minimum number of support points.

Parameters:

	cluster	list of points in the cluster
	polygon	convex hull of the cluster `cluster`
[out]	lines	back_inserter object to a sequence of polygon msgs (new lines will be pushed back)

Definition at line 139 of file costmap_to_lines_convex_hull.cpp.

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

Initialize the plugin.

Parameters:

nh	Nodehandle that defines the namespace for parameters

Reimplemented from costmap_converter::CostmapToPolygonsDBSMCCH.

Definition at line 61 of file costmap_to_lines_convex_hull.cpp.

void costmap_converter::CostmapToLinesDBSMCCH::reconfigureCB	(	CostmapToLinesDBSMCCHConfig &	config,
		uint32_t	level
	)		`[private]`

Callback for the dynamic_reconfigure node.

This callback allows to modify parameters dynamically at runtime without restarting the node

Parameters:

config	Reference to the dynamic reconfigure config
level	Dynamic reconfigure level

Definition at line 284 of file costmap_to_lines_convex_hull.cpp.

Member Data Documentation

dynamic_reconfigure::Server<CostmapToLinesDBSMCCHConfig>* costmap_converter::CostmapToLinesDBSMCCH::dynamic_recfg_ [private]

Dynamic reconfigure server to allow config modifications at runtime.

Reimplemented from costmap_converter::CostmapToPolygonsDBSMCCH.

Definition at line 124 of file costmap_to_lines_convex_hull.h.

int costmap_converter::CostmapToLinesDBSMCCH::min_support_pts_ [protected]

Definition at line 111 of file costmap_to_lines_convex_hull.h.

double costmap_converter::CostmapToLinesDBSMCCH::support_pts_max_dist_ [protected]

Definition at line 110 of file costmap_to_lines_convex_hull.h.

double costmap_converter::CostmapToLinesDBSMCCH::support_pts_max_dist_inbetween_ [protected]

Definition at line 109 of file costmap_to_lines_convex_hull.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation