#include <footprint.h>

Inheritance diagram for costmap_cspace::Costmap3dLayerFootprint:

Public Types
using	Ptr = std::shared_ptr< Costmap3dLayerFootprint >

Public Types inherited from costmap_cspace::Costmap3dLayerBase
using	Ptr = std::shared_ptr< Costmap3dLayerBase >

Public Member Functions
	Costmap3dLayerFootprint ()

Polygon &	getFootprint ()

const geometry_msgs::PolygonStamped &	getFootprintMsg () const

float	getFootprintRadius () const

int	getRangeMax () const

const CSpace3Cache &	getTemplate () const

void	loadConfig (XmlRpc::XmlRpcValue config)

void	setExpansion (const float linear_expand, const float linear_spread)

void	setFootprint (const Polygon footprint)

void	setKeepUnknown (const bool keep_unknown)

void	setMapMetaData (const costmap_cspace_msgs::MapMetaData3D &info)

Public Member Functions inherited from costmap_cspace::Costmap3dLayerBase
	Costmap3dLayerBase ()

int	getAngularGrid () const

CSpace3DMsg::Ptr	getMap ()

CSpace3DMsg::Ptr	getMapOverlay ()

void	processMapOverlay (const nav_msgs::OccupancyGrid::ConstPtr &msg)

void	setAngleResolution (const int ang_resolution)

void	setBaseMap (const nav_msgs::OccupancyGrid::ConstPtr &base_map)

void	setChild (Costmap3dLayerBase::Ptr child)

void	setMap (CSpace3DMsg::Ptr map)

void	setOverlayMode (const MapOverlayMode overlay_mode)

Protected Member Functions
void	clearTravelableArea (CSpace3DMsg::Ptr map, const nav_msgs::OccupancyGrid::ConstPtr &msg)

virtual void	generateCSpace (CSpace3DMsg::Ptr map, const nav_msgs::OccupancyGrid::ConstPtr &msg, const UpdatedRegion &region)

void	generateSpecifiedCSpace (CSpace3DMsg::Ptr map, const nav_msgs::OccupancyGrid::ConstPtr &msg, const size_t yaw)

bool	updateChain (const bool output)

void	updateCSpace (const nav_msgs::OccupancyGrid::ConstPtr &map, const UpdatedRegion &region)

Protected Member Functions inherited from costmap_cspace::Costmap3dLayerBase
void	setBaseMapChain ()

bool	updateChainEntry (const UpdatedRegion &region, bool output=true)

Protected Attributes
CSpace3Cache	cs_template_

geometry_msgs::PolygonStamped	footprint_

Polygon	footprint_p_

float	footprint_radius_

bool	keep_unknown_

float	linear_expand_

float	linear_spread_

int	range_max_

std::vector< bool >	unknown_buf_

Protected Attributes inherited from costmap_cspace::Costmap3dLayerBase
int	ang_grid_

Costmap3dLayerBase::Ptr	child_

CSpace3DMsg::Ptr	map_

CSpace3DMsg::Ptr	map_overlay_

nav_msgs::OccupancyGrid::ConstPtr	map_updated_

MapOverlayMode	overlay_mode_

UpdatedRegion	region_

UpdatedRegion	region_prev_

bool	root_

Detailed Description

Definition at line 53 of file footprint.h.

Member Typedef Documentation

using costmap_cspace::Costmap3dLayerFootprint::Ptr = std::shared_ptr<Costmap3dLayerFootprint>

Definition at line 56 of file footprint.h.

Constructor & Destructor Documentation

costmap_cspace::Costmap3dLayerFootprint::Costmap3dLayerFootprint ( )

inline

Definition at line 71 of file footprint.h.

Member Function Documentation

void costmap_cspace::Costmap3dLayerFootprint::clearTravelableArea	(	CSpace3DMsg::Ptr	map,
		const nav_msgs::OccupancyGrid::ConstPtr &	msg
	)

inlineprotected

Definition at line 206 of file footprint.h.

virtual void costmap_cspace::Costmap3dLayerFootprint::generateCSpace	(	CSpace3DMsg::Ptr	map,
		const nav_msgs::OccupancyGrid::ConstPtr &	msg,
		const UpdatedRegion &	region
	)

inlineprotectedvirtual

Reimplemented in costmap_cspace::Costmap3dLayerPlain.

Definition at line 192 of file footprint.h.

void costmap_cspace::Costmap3dLayerFootprint::generateSpecifiedCSpace	(	CSpace3DMsg::Ptr	map,
		const nav_msgs::OccupancyGrid::ConstPtr &	msg,
		const size_t	yaw
	)

inlineprotected

Definition at line 255 of file footprint.h.

Polygon& costmap_cspace::Costmap3dLayerFootprint::getFootprint ( )

inline

Definition at line 109 of file footprint.h.

const geometry_msgs::PolygonStamped& costmap_cspace::Costmap3dLayerFootprint::getFootprintMsg ( ) const

inline

Definition at line 113 of file footprint.h.

float costmap_cspace::Costmap3dLayerFootprint::getFootprintRadius ( ) const

inline

Definition at line 117 of file footprint.h.

int costmap_cspace::Costmap3dLayerFootprint::getRangeMax ( ) const

inlinevirtual

Implements costmap_cspace::Costmap3dLayerBase.

Definition at line 121 of file footprint.h.

const CSpace3Cache& costmap_cspace::Costmap3dLayerFootprint::getTemplate ( ) const

inline

Definition at line 125 of file footprint.h.

void costmap_cspace::Costmap3dLayerFootprint::loadConfig ( XmlRpc::XmlRpcValue config )

inlinevirtual

Implements costmap_cspace::Costmap3dLayerBase.

Reimplemented in costmap_cspace::Costmap3dLayerPlain.

Definition at line 78 of file footprint.h.

void costmap_cspace::Costmap3dLayerFootprint::setExpansion	(	const float	linear_expand,
		const float	linear_spread
	)

inline

Definition at line 91 of file footprint.h.

void costmap_cspace::Costmap3dLayerFootprint::setFootprint ( const Polygon footprint )

inline

Definition at line 103 of file footprint.h.

void costmap_cspace::Costmap3dLayerFootprint::setKeepUnknown ( const bool keep_unknown )

inline

Definition at line 87 of file footprint.h.

void costmap_cspace::Costmap3dLayerFootprint::setMapMetaData ( const costmap_cspace_msgs::MapMetaData3D & info )

inlinevirtual

Implements costmap_cspace::Costmap3dLayerBase.

Definition at line 129 of file footprint.h.

bool costmap_cspace::Costmap3dLayerFootprint::updateChain ( const bool output )

inlineprotectedvirtual

Implements costmap_cspace::Costmap3dLayerBase.

Definition at line 179 of file footprint.h.

void costmap_cspace::Costmap3dLayerFootprint::updateCSpace	(	const nav_msgs::OccupancyGrid::ConstPtr &	map,
		const UpdatedRegion &	region
	)

inlineprotectedvirtual

Implements costmap_cspace::Costmap3dLayerBase.

Definition at line 183 of file footprint.h.

Member Data Documentation

CSpace3Cache costmap_cspace::Costmap3dLayerFootprint::cs_template_

protected

Definition at line 66 of file footprint.h.

geometry_msgs::PolygonStamped costmap_cspace::Costmap3dLayerFootprint::footprint_

protected

Definition at line 60 of file footprint.h.

Polygon costmap_cspace::Costmap3dLayerFootprint::footprint_p_

protected

Definition at line 63 of file footprint.h.

float costmap_cspace::Costmap3dLayerFootprint::footprint_radius_

protected

Definition at line 59 of file footprint.h.

bool costmap_cspace::Costmap3dLayerFootprint::keep_unknown_

protected

Definition at line 64 of file footprint.h.

float costmap_cspace::Costmap3dLayerFootprint::linear_expand_

protected

Definition at line 61 of file footprint.h.

float costmap_cspace::Costmap3dLayerFootprint::linear_spread_

protected

Definition at line 62 of file footprint.h.

int costmap_cspace::Costmap3dLayerFootprint::range_max_

protected

Definition at line 67 of file footprint.h.

std::vector<bool> costmap_cspace::Costmap3dLayerFootprint::unknown_buf_

protected

Definition at line 68 of file footprint.h.

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

footprint.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation