#include <static_layer.h>

Inheritance diagram for rtabmap_ros::StaticLayer:

Public Member Functions
virtual void	activate ()
virtual void	deactivate ()
virtual void	matchSize ()
virtual void	onInitialize ()
virtual void	reset ()
	StaticLayer ()
virtual void	updateBounds (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)
virtual void	updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
virtual	~StaticLayer ()
Private Member Functions
void	incomingMap (const nav_msgs::OccupancyGridConstPtr &new_map)
	Callback to update the costmap's map from the map_server.
void	incomingUpdate (const map_msgs::OccupancyGridUpdateConstPtr &update)
unsigned char	interpretValue (unsigned char value)
void	reconfigureCB (costmap_2d::GenericPluginConfig &config, uint32_t level)
Private Attributes
dynamic_reconfigure::Server < costmap_2d::GenericPluginConfig > *	dsrv_
std::string	global_frame_
	The global frame for the costmap.
bool	has_updated_data_
unsigned int	height_
unsigned char	lethal_threshold_
boost::recursive_mutex	lock_
bool	map_received_
ros::Subscriber	map_sub_
ros::Subscriber	map_update_sub_
bool	subscribe_to_updates_
bool	track_unknown_space_
bool	trinary_costmap_
unsigned char	unknown_cost_value_
bool	use_maximum_
unsigned int	width_
unsigned int	x_
unsigned int	y_

Detailed Description

Definition at line 53 of file static_layer.h.

Constructor & Destructor Documentation

rtabmap_ros::StaticLayer::StaticLayer ( )

Definition at line 56 of file static_layer.cpp.

rtabmap_ros::StaticLayer::~StaticLayer ( ) [virtual]

Definition at line 58 of file static_layer.cpp.

Member Function Documentation

void rtabmap_ros::StaticLayer::activate ( ) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 217 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::deactivate ( ) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 222 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::incomingMap ( const nav_msgs::OccupancyGridConstPtr & new_map ) [private]

Callback to update the costmap's map from the map_server.

Parameters:

new_map The map to put into the costmap. The origin of the new map along with its size will determine what parts of the costmap's static map are overwritten.

Definition at line 150 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::incomingUpdate ( const map_msgs::OccupancyGridUpdateConstPtr & update ) [private]

Definition at line 196 of file static_layer.cpp.

unsigned char rtabmap_ros::StaticLayer::interpretValue ( unsigned char value ) [private]

Definition at line 136 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::matchSize ( ) [virtual]

Reimplemented from costmap_2d::CostmapLayer.

Definition at line 129 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::onInitialize ( ) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 64 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::reconfigureCB	(	costmap_2d::GenericPluginConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 117 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::reset ( ) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 229 of file static_layer.cpp.

void rtabmap_ros::StaticLayer::updateBounds	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)		`[virtual]`