Namespaces
	Inflate

Classes
class	CircleIterator

class	CostMap

class	Costmap2DROSServiceProvider
	Provide cost_map::fromROSCostMap2D() as a ros service. More...

class	CostMapIterator

class	Deflate

class	EllipseIterator

class	Inflate

class	InflationComputer

class	LineIterator

class	LoadImageBundle
	Helper for loading and publishing image bundles. More...

class	PolygonIterator

class	ROSInflationComputer

class	SaveImageBundle
	Helper for saving an image bundle from a cost map topic. More...

class	SpiralIterator

class	SubmapGeometry

class	SubmapIterator

Typedefs
typedef grid_map::BufferRegion	BufferRegion

typedef std::shared_ptr< cost_map::CostMap const >	CostMapConstPtr

typedef std::shared_ptr< cost_map::CostMap >	CostMapPtr

typedef grid_map::Matrix	DataMatrix

typedef Matrix::Scalar	DataType

typedef grid_map::Index	Index

typedef grid_map::Length	Length

typedef Eigen::Matrix< unsigned char, Eigen::Dynamic, Eigen::Dynamic >	Matrix

typedef grid_map::Polygon	Polygon

typedef grid_map::Position	Position

typedef grid_map::Position3	Position3

typedef grid_map::Size	Size

typedef grid_map::Time	Time

typedef grid_map::Vector	Vector

typedef grid_map::Vector3	Vector3

Functions
bool	addLayerFromROSImage (const sensor_msgs::Image &image, const std::string &layer_name, cost_map::CostMap &cost_map)

bool	fromCostmap2DROS (costmap_2d::Costmap2DROS &ros_costmap, const std::string &layer_name, cost_map::CostMap &cost_map)
	Converts a ROS costmap to a costmap object. More...

bool	fromCostmap2DROSAtRobotPose (costmap_2d::Costmap2DROS &ros_costmap, const cost_map::Length &geometry, const std::string &layer_name, cost_map::CostMap &cost_map)
	Converts a ROS costmap around the robot to a costmap object. More...

void	fromImageBundle (const std::string &filename, cost_map::CostMap &cost_map)
	Initialises a adds a single layer from a yaml/image resource pair. More...

bool	fromMessage (const cost_map_msgs::CostMap &message, cost_map::CostMap &cost_map)

std::string	resolveResourceName (const std::string &resource_name)
	Use rospack to resolve a costmap given a ros package resource name. More...

void	toGridMap (const cost_map::CostMap cost_map, grid_map::GridMap &grid_map)
	Convert a cost map object into a grid map object. More...

void	toImageBundle (const std::string &filename, const cost_map::CostMap &cost_map)
	Dump a cost map to an image bundle set of files. More...

void	toMessage (const cost_map::CostMap &cost_map, cost_map_msgs::CostMap &message)

void	toOccupancyGrid (const cost_map::CostMap &cost_map, const std::string &layer, nav_msgs::OccupancyGrid &msg)

Variables
const unsigned char	FREE_SPACE

const unsigned char	INSCRIBED_OBSTACLE

const unsigned char	LETHAL_OBSTACLE

const unsigned char	NO_INFORMATION

Function Documentation

bool cost_map::addLayerFromROSImage	(	const sensor_msgs::Image &	image,
		const std::string &	layer_name,
		cost_map::CostMap &	cost_map
	)

Definition at line 37 of file converter.cpp.

bool cost_map::fromCostmap2DROS	(	costmap_2d::Costmap2DROS &	ros_costmap,
		const std::string &	layer_name,
		cost_map::CostMap &	cost_map
	)

Converts a ROS costmap to a costmap object.

This copies the complete costmap and all relevant details of the underlying Costmap2D object. Note that it does not transfer properties in the Costmap2DROS object such as the notion of the robot pose.

Parameters

[in]	ros_costmap	: a traditional ros costmap object.
[in]	layer_name	: new costmaps have multiple layers, so important to specify a name
[out]	costmap	: a cost_map::CostMap object

Note: We should, but cannot use a const for the ros costmap since it hasn't been very well designed. Treat it as such and do not change the internals inside.

Definition at line 216 of file converter.cpp.

bool cost_map::fromCostmap2DROSAtRobotPose	(	costmap_2d::Costmap2DROS &	ros_costmap,
		const cost_map::Length &	geometry,
		const std::string &	layer_name,
		cost_map::CostMap &	cost_map
	)

Converts a ROS costmap around the robot to a costmap object.

This automatically affixes the cost map grid to the location of the robot in the ros costmap. Resolution is also carried across. The only configuration necessary is to specify how large the cost map should be. Take care that this subwindow does not go off the edge of the underlying ros costmap!

Parameters

[in]	ros_costmap	: a traditional ros costmap object (input).
[in]	geometry	: size of the subwindow (mxm)
[in]	layer_name	: new costmaps have multiple layers, so important to specify a name
[out]	costmap	: a cost_map::CostMap object

Note: We should, but cannot use a const for the ros costmap since it hasn't been very well designed. Treat it as such and do not change the internals inside.

Definition at line 229 of file converter.cpp.

void cost_map::fromImageBundle	(	const std::string &	filename,
		cost_map::CostMap &	cost_map
	)

Initialises a adds a single layer from a yaml/image resource pair.

Warning: this will change the geometry of the provided costmap and delete all layers!

Todo:: bool result/exception handling for when things go wrong

Parameters

[in]	filename	: yaml file
[out]	cost_map	:

Exceptions

std::logic_error if the yaml couldn't be read, or the required yaml was not valid

Definition at line 34 of file image_bundles.cpp.

bool cost_map::fromMessage	(	const cost_map_msgs::CostMap &	message,
		cost_map::CostMap &	cost_map
	)

Converts a ROS cost map message to a cost map object.

Parameters

[in]	message	the cost map message.
[out]	cost_map	the cost map object to be initialized.

Returns: true if successful, false otherwise.

Definition at line 186 of file converter.cpp.

std::string cost_map::resolveResourceName ( const std::string & resource_name )

Use rospack to resolve a costmap given a ros package resource name.

Costmaps are yaml files with configuration and a pointer to an opencv image to load. They are exported in the package.xml with a 'cost_map' tag and 'yaml' attribute.

http://wiki.ros.org/Names#Package_Resource_Names

Parameters

[in] resource_name : ros package resource name

Returns: absolute path to the resource

Exceptions

std::invalid_argument	if resource_name is the incorrect syntax
std::runtime_error	if the resource could not be found

Definition at line 23 of file utilities.cpp.

void cost_map::toGridMap	(	const cost_map::CostMap	cost_map,
		grid_map::GridMap &	grid_map
	)

Convert a cost map object into a grid map object.

Parameters

cost_map	: incoming cost_map
grid_map	: outgoing grid_map (Warning: this resets everything!)

Definition at line 130 of file converter.cpp.

void cost_map::toImageBundle	(	const std::string &	filename,
		const cost_map::CostMap &	cost_map
	)

Dump a cost map to an image bundle set of files.

This creates the specified yaml file with image bundle meta information and a set of png images alongside, one for each layer in the cost map.

Todo:: bool result/exception handling for when things go wrong

Parameters

[in]	filename	: name of the yaml file to write
[in]	cost_map	: cost map to dump

Definition at line 135 of file image_bundles.cpp.

void cost_map::toMessage	(	const cost_map::CostMap &	cost_map,
		cost_map_msgs::CostMap &	message
	)

Converts all layers of a grid map object to a ROS grid map message.

Parameters

[in]	gridMap	the grid map object.
[out]	message	the grid map message to be populated.

Definition at line 154 of file converter.cpp.

void cost_map::toOccupancyGrid	(	const cost_map::CostMap &	cost_map,
		const std::string &	layer,
		nav_msgs::OccupancyGrid &	msg
	)

Definition at line 245 of file converter.cpp.

Namespaces

Classes

Typedefs

Functions

Variables

Function Documentation