Class NavMapMapsManager

Inheritance Relationships

Base Type

  • public easynav::MapsManagerBase

Class Documentation

class NavMapMapsManager : public easynav::MapsManagerBase

A plugin-based map manager using the SimpleMap data structure.

This manager implements a minimal mapping approach using boolean grid maps (SimpleMap) for both static and dynamic maps. It supports publishing and receiving ROS occupancy grids.

Public Functions

NavMapMapsManager()

Default constructor.

~NavMapMapsManager()

Destructor.

virtual void on_initialize() override

Initializes the maps manager.

Creates necessary publishers/subscribers and initializes the map instances.

Throws:

std::runtime_error – if initialization fails.

virtual void update(::easynav::NavState &nav_state) override

Updates the internal maps using the current navigation state.

Intended to be called periodically. May perform dynamic map updates based on new sensor data or internal state.

Parameters:

nav_state – Current state of the navigation system.

void set_static_map(const ::navmap::NavMap &new_map)

Replaces the current static map.

Parameters:

new_map – Shared pointer to a new map object. Must be of type SimpleMap.

Protected Attributes

std::string map_path_

Full path to the map file.