map_grid_visualizer.h
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34 #ifndef MAP_GRID_VISUALIZER_H_
35 #define MAP_GRID_VISUALIZER_H_
36 
37 #include <ros/ros.h>
39 #include <costmap_2d/costmap_2d.h>
41 #include <pcl_ros/publisher.h>
42 
43 namespace base_local_planner {
45  public:
50 
57  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);
58 
63 
67  void publishCostCloud(const costmap_2d::Costmap2D* costmap_p_);
68 
69  private:
70  std::string name_;
71  boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function_;
73  pcl::PointCloud<MapGridCostPoint>* cost_cloud_;
75  };
76 };
77 
78 #endif
pcl::PointCloud< MapGridCostPoint > * cost_cloud_
std::string name_
The name to get parameters relative to.
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 fo...
pcl_ros::Publisher< MapGridCostPoint > pub_
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.
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.


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:49