#include <inflation_layer.h>

Inheritance diagram for costmap_2d::InflationLayer:

Public Member Functions
unsigned char	computeCost (double distance) const
	Given a distance, compute a cost. More...

	InflationLayer ()

virtual bool	isDiscretized ()

virtual void	matchSize ()
	Implement this to make this layer match the size of the parent costmap. More...

virtual void	onInitialize ()
	This is called at the end of initialize(). Override to implement subclass-specific initialization. More...

virtual void	reset ()

void	setInflationParameters (double inflation_radius, double cost_scaling_factor)
	Change the values of the inflation radius parameters. More...

virtual void	updateBounds (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)
	This is called by the LayeredCostmap to poll this plugin as to how much of the costmap it needs to update. Each layer can increase the size of this bounds. More...

virtual void	updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
	Actually update the underlying costmap, only within the bounds calculated during UpdateBounds(). More...

virtual	~InflationLayer ()

Public Member Functions inherited from costmap_2d::Layer
virtual void	activate ()
	Restart publishers if they've been stopped. More...

virtual void	deactivate ()
	Stop publishers. More...

const std::vector< geometry_msgs::Point > &	getFootprint () const
	Convenience function for layered_costmap_->getFootprint(). More...

std::string	getName () const

void	initialize (LayeredCostmap parent, std::string name, tf::TransformListener tf)

bool	isCurrent () const
	Check to make sure all the data in the layer is up to date. If the layer is not up to date, then it may be unsafe to plan using the data from this layer, and the planner may need to know. More...

	Layer ()

virtual	~Layer ()

Protected Member Functions
virtual void	onFootprintChanged ()
	LayeredCostmap calls this whenever the footprint there changes (via LayeredCostmap::setFootprint()). Override to be notified of changes to the robot's footprint. More...

Protected Attributes
boost::recursive_mutex *	inflation_access_

Protected Attributes inherited from costmap_2d::Layer
bool	current_

bool	enabled_
	Currently this var is managed by subclasses. TODO: make this managed by this class and/or container class. More...

LayeredCostmap *	layered_costmap_

std::string	name_

tf::TransformListener *	tf_

Private Member Functions
unsigned int	cellDistance (double world_dist)

void	computeCaches ()

unsigned char	costLookup (int mx, int my, int src_x, int src_y)
	Lookup pre-computed costs. More...

void	deleteKernels ()

double	distanceLookup (int mx, int my, int src_x, int src_y)
	Lookup pre-computed distances. More...

void	enqueue (unsigned int index, unsigned int mx, unsigned int my, unsigned int src_x, unsigned int src_y)
	Given an index of a cell in the costmap, place it into a list pending for obstacle inflation. More...

void	inflate_area (int min_i, int min_j, int max_i, int max_j, unsigned char *master_grid)

void	reconfigureCB (costmap_2d::InflationPluginConfig &config, uint32_t level)

Private Attributes
unsigned int	cached_cell_inflation_radius_

unsigned char **	cached_costs_

double **	cached_distances_

unsigned int	cell_inflation_radius_

dynamic_reconfigure::Server< costmap_2d::InflationPluginConfig > *	dsrv_

bool	inflate_unknown_

std::map< double, std::vector< CellData > >	inflation_cells_

double	inflation_radius_

double	inscribed_radius_

double	last_max_x_

double	last_max_y_

double	last_min_x_

double	last_min_y_

bool	need_reinflation_
	Indicates that the entire costmap should be reinflated next time around. More...

double	resolution_

bool *	seen_

int	seen_size_

double	weight_

Detailed Description

Definition at line 75 of file inflation_layer.h.

Constructor & Destructor Documentation

costmap_2d::InflationLayer::InflationLayer ( )

Definition at line 54 of file inflation_layer.cpp.

virtual costmap_2d::InflationLayer::~InflationLayer ( )

inlinevirtual

Definition at line 80 of file inflation_layer.h.

Member Function Documentation

unsigned int costmap_2d::InflationLayer::cellDistance ( double world_dist )

inlineprivate

Definition at line 165 of file inflation_layer.h.

void costmap_2d::InflationLayer::computeCaches ( )

private

Definition at line 306 of file inflation_layer.cpp.

unsigned char costmap_2d::InflationLayer::computeCost ( double distance ) const

inline

Given a distance, compute a cost.

Parameters

distance The distance from an obstacle in cells

Returns: A cost value for the distance

Definition at line 102 of file inflation_layer.h.

unsigned char costmap_2d::InflationLayer::costLookup	(	int	mx,
		int	my,
		int	src_x,
		int	src_y
	)

inlineprivate

Lookup pre-computed costs.

Parameters

mx	The x coordinate of the current cell
my	The y coordinate of the current cell
src_x	The x coordinate of the source cell
src_y	The y coordinate of the source cell

Returns

Definition at line 154 of file inflation_layer.h.

void costmap_2d::InflationLayer::deleteKernels ( )

private

Definition at line 341 of file inflation_layer.cpp.

double costmap_2d::InflationLayer::distanceLookup	(	int	mx,
		int	my,
		int	src_x,
		int	src_y
	)

inlineprivate

Lookup pre-computed distances.

Parameters

mx	The x coordinate of the current cell
my	The y coordinate of the current cell
src_x	The x coordinate of the source cell
src_y	The y coordinate of the source cell

Returns

Definition at line 139 of file inflation_layer.h.

void costmap_2d::InflationLayer::enqueue	(	unsigned int	index,
		unsigned int	mx,
		unsigned int	my,
		unsigned int	src_x,
		unsigned int	src_y
	)

inlineprivate

Given an index of a cell in the costmap, place it into a list pending for obstacle inflation.

Parameters

grid	The costmap
index	The index of the cell
mx	The x coordinate of the cell (can be computed from the index, but saves time to store it)
my	The y coordinate of the cell (can be computed from the index, but saves time to store it)
src_x	The x index of the obstacle point inflation started at
src_y	The y index of the obstacle point inflation started at

Definition at line 289 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::inflate_area	(	int	min_i,
		int	min_j,
		int	max_i,
		int	max_j,
		unsigned char *	master_grid
	)

private

virtual bool costmap_2d::InflationLayer::isDiscretized ( )

inlinevirtual

Definition at line 91 of file inflation_layer.h.

void costmap_2d::InflationLayer::matchSize ( )

virtual

Implement this to make this layer match the size of the parent costmap.

Reimplemented from costmap_2d::Layer.

Definition at line 112 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::onFootprintChanged ( )

protectedvirtual

LayeredCostmap calls this whenever the footprint there changes (via LayeredCostmap::setFootprint()). Override to be notified of changes to the robot's footprint.

Reimplemented from costmap_2d::Layer.

Definition at line 162 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::onInitialize ( )

virtual

This is called at the end of initialize(). Override to implement subclass-specific initialization.

tf_, name_, and layered_costmap_ will all be set already when this is called.

Reimplemented from costmap_2d::Layer.

Definition at line 72 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::reconfigureCB	(	costmap_2d::InflationPluginConfig &	config,
		uint32_t	level
	)

private

Definition at line 101 of file inflation_layer.cpp.

virtual void costmap_2d::InflationLayer::reset ( )

inlinevirtual

Reimplemented from costmap_2d::Layer.

Definition at line 97 of file inflation_layer.h.

void costmap_2d::InflationLayer::setInflationParameters	(	double	inflation_radius,
		double	cost_scaling_factor
	)

Change the values of the inflation radius parameters.

Parameters

inflation_radius	The new inflation radius
cost_scaling_factor	The new weight

Definition at line 367 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::updateBounds	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

virtual

This is called by the LayeredCostmap to poll this plugin as to how much of the costmap it needs to update. Each layer can increase the size of this bounds.

For more details, see "Layered Costmaps for Context-Sensitive Navigation", by Lu et. Al, IROS 2014.

Reimplemented from costmap_2d::Layer.

Definition at line 127 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::updateCosts	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)

virtual

Actually update the underlying costmap, only within the bounds calculated during UpdateBounds().

Reimplemented from costmap_2d::Layer.

Definition at line 174 of file inflation_layer.cpp.

Member Data Documentation

unsigned int costmap_2d::InflationLayer::cached_cell_inflation_radius_

private

Definition at line 176 of file inflation_layer.h.

unsigned char** costmap_2d::InflationLayer::cached_costs_

private

Definition at line 184 of file inflation_layer.h.

double** costmap_2d::InflationLayer::cached_distances_

private

Definition at line 185 of file inflation_layer.h.

unsigned int costmap_2d::InflationLayer::cell_inflation_radius_

private

Definition at line 175 of file inflation_layer.h.

dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig>* costmap_2d::InflationLayer::dsrv_

private

Definition at line 188 of file inflation_layer.h.

bool costmap_2d::InflationLayer::inflate_unknown_

private

Definition at line 174 of file inflation_layer.h.

boost::recursive_mutex* costmap_2d::InflationLayer::inflation_access_

protected

Definition at line 128 of file inflation_layer.h.

std::map<double, std::vector<CellData> > costmap_2d::InflationLayer::inflation_cells_

private

Definition at line 177 of file inflation_layer.h.

double costmap_2d::InflationLayer::inflation_radius_

private

Definition at line 173 of file inflation_layer.h.

double costmap_2d::InflationLayer::inscribed_radius_

private

Definition at line 173 of file inflation_layer.h.

double costmap_2d::InflationLayer::last_max_x_

private

Definition at line 186 of file inflation_layer.h.

double costmap_2d::InflationLayer::last_max_y_

private

Definition at line 186 of file inflation_layer.h.

double costmap_2d::InflationLayer::last_min_x_

private

Definition at line 186 of file inflation_layer.h.

double costmap_2d::InflationLayer::last_min_y_

private

Definition at line 186 of file inflation_layer.h.

bool costmap_2d::InflationLayer::need_reinflation_

private

Indicates that the entire costmap should be reinflated next time around.

Definition at line 191 of file inflation_layer.h.

double costmap_2d::InflationLayer::resolution_

private

Definition at line 179 of file inflation_layer.h.

bool* costmap_2d::InflationLayer::seen_

private

Definition at line 181 of file inflation_layer.h.

int costmap_2d::InflationLayer::seen_size_

private

Definition at line 182 of file inflation_layer.h.

double costmap_2d::InflationLayer::weight_

private

Definition at line 173 of file inflation_layer.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation