base_local_planner::MapGridVisualizer Class Reference

#include <map_grid_visualizer.h>

Public Member Functions
void	initialize (const std::string &name, std::string frame, boost::function< bool(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function)
	Initializes the MapGridVisualizer. More...
	MapGridVisualizer ()
	Default constructor. More...
void	publishCostCloud (const costmap_2d::Costmap2D *costmap_p_)
	Build and publish a PointCloud if the publish_cost_grid_pc parameter was true. Only include points for which the cost_function at (cx,cy) returns true. More...
	~MapGridVisualizer ()

Private Attributes
pcl::PointCloud< MapGridCostPoint > *	cost_cloud_
boost::function< bool(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)>	cost_function_
	The function to be used to generate the cost components for the output PointCloud. More...
std::string	name_
	The name to get parameters relative to. More...
ros::NodeHandle	ns_nh_
pcl_ros::Publisher< MapGridCostPoint >	pub_

Detailed Description

Definition at line 44 of file map_grid_visualizer.h.

Constructor & Destructor Documentation

base_local_planner::MapGridVisualizer::MapGridVisualizer

(

)

Default constructor.

Definition at line 41 of file map_grid_visualizer.cpp.

base_local_planner::MapGridVisualizer::~MapGridVisualizer ( )

inline

Destructor for the visualizer

Definition at line 62 of file map_grid_visualizer.h.

Member Function Documentation

void base_local_planner::MapGridVisualizer::initialize	(	const std::string &	name,
		std::string	frame,
		boost::function< bool(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)>	cost_function
	)

Initializes the MapGridVisualizer.

Parameters

name	The name to be appended to ~/ in order to get the proper namespace for parameters
costmap	The costmap instance to use to get the size of the map to generate a point cloud for
cost_function	The function to use to compute the cost values to be inserted into each point in the output PointCloud as well as whether to include a given point or not

Definition at line 44 of file map_grid_visualizer.cpp.

void base_local_planner::MapGridVisualizer::publishCostCloud

(

const costmap_2d::Costmap2D *

costmap_p_

)

Build and publish a PointCloud if the publish_cost_grid_pc parameter was true. Only include points for which the cost_function at (cx,cy) returns true.

Definition at line 55 of file map_grid_visualizer.cpp.

Member Data Documentation

pcl::PointCloud<MapGridCostPoint>* base_local_planner::MapGridVisualizer::cost_cloud_

private

Definition at line 73 of file map_grid_visualizer.h.

boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> base_local_planner::MapGridVisualizer::cost_function_

private

The function to be used to generate the cost components for the output PointCloud.

Definition at line 71 of file map_grid_visualizer.h.

std::string base_local_planner::MapGridVisualizer::name_

private

The name to get parameters relative to.

Definition at line 70 of file map_grid_visualizer.h.

ros::NodeHandle base_local_planner::MapGridVisualizer::ns_nh_

private

Definition at line 72 of file map_grid_visualizer.h.

pcl_ros::Publisher<MapGridCostPoint> base_local_planner::MapGridVisualizer::pub_

private

Definition at line 74 of file map_grid_visualizer.h.

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

• map_grid_visualizer.h
• map_grid_visualizer.cpp