grid_map::Costmap2DConverter< MapType, TranslationTable > Class Template Reference

Convert Costmap2DRos objects into cost or grid maps. More...

#include <Costmap2DConverter.hpp>

Public Member Functions
bool	addLayerFromCostmap2D (const costmap_2d::Costmap2D &costmap2d, const std::string &layer, MapType &outputMap)
bool	addLayerFromCostmap2D (costmap_2d::Costmap2DROS &costmap2d, const std::string &layer, MapType &outputMap)
bool	addLayerFromCostmap2DAtRobotPose (costmap_2d::Costmap2DROS &costmap2d, const std::string &layer, MapType &outputMap)
	Costmap2DConverter ()=default
std::string	errorMessage () const
	Human readable error message string. More...
void	initializeFromCostmap2D (costmap_2d::Costmap2DROS &costmap2d, MapType &outputMap)
void	initializeFromCostmap2D (const costmap_2d::Costmap2D &costmap2d, MapType &outputMap)
bool	initializeFromCostmap2DAtRobotPose (costmap_2d::Costmap2DROS &costmap2d, const Length &length, MapType &outputMap)
void	initializeFromGridMap (const MapType &gridMap, costmap_2d::Costmap2D &outputCostmap)
bool	setCostmap2DFromGridMap (const MapType &gridMap, const std::string &layer, costmap_2d::Costmap2D &outputCostmap)
virtual	~Costmap2DConverter ()=default

Private Attributes
std::string	errorMessage_

Detailed Description

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>
class grid_map::Costmap2DConverter< MapType, TranslationTable >

Convert Costmap2DRos objects into cost or grid maps.

Template Parameters

MapType	: either grid_map::GridMap or cost_map::CostMap
TranslationTable	: class that creates a cost -> new type conversion table

See also

Costmap2DDirectTranslationTable, Costmap2DCenturyTranslationTable

Definition at line 157 of file Costmap2DConverter.hpp.

Constructor & Destructor Documentation

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

grid_map::Costmap2DConverter< MapType, TranslationTable >::Costmap2DConverter ( )

default

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

virtual grid_map::Costmap2DConverter< MapType, TranslationTable >::~Costmap2DConverter ( )

virtualdefault

Member Function Documentation

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

bool grid_map::Costmap2DConverter< MapType, TranslationTable >::addLayerFromCostmap2D ( const costmap_2d::Costmap2D &  costmap2d, const std::string &  layer, MapType &  outputMap  )

inline

Load the costmap2d into the specified layer.

Warning

This does not lock the costmap2d object, you should take care to do so from outside this function.

Parameters

costmap2d	from this costmap type object.
layer	the name of the layer to insert.
outputMap	to this costmap type object.

Returns

true if successful, false otherwise.

Definition at line 224 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

bool grid_map::Costmap2DConverter< MapType, TranslationTable >::addLayerFromCostmap2D ( costmap_2d::Costmap2DROS &  costmap2d, const std::string &  layer, MapType &  outputMap  )

inline

Load the costmap2d into the specified layer.

Warning

This does not lock the costmap2d object, you should take care to do so from outside this function.

Parameters

costmap2d	from this costmap type object.
layer	the name of the layer to insert.
outputMap	to this costmap type object.

Returns

true if successful, false otherwise.

Definition at line 257 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

bool grid_map::Costmap2DConverter< MapType, TranslationTable >::addLayerFromCostmap2DAtRobotPose ( costmap_2d::Costmap2DROS &  costmap2d, const std::string &  layer, MapType &  outputMap  )

inline

Fill a layer in the output map with data from the subwindow centered at the robot pose.

Warning

This does not lock the costmap2d object, you should take care to do so from outside this function in scope with any initializeFromCostmap2DAtRobotPose calls you wish to make.

Parameters

costmap2d	the underlying Costmap2DROS object.
layer	the layer name to add.
outputMap	the initialized and filled in map output map.

Definition at line 347 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

std::string grid_map::Costmap2DConverter< MapType, TranslationTable >::errorMessage ( ) const

inline

Human readable error message string.

Can be used to get a human readable description of the error type after one of the class methods has failed.

Returns

std::string

Definition at line 391 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

void grid_map::Costmap2DConverter< MapType, TranslationTable >::initializeFromCostmap2D ( costmap_2d::Costmap2DROS &  costmap2d, MapType &  outputMap  )

inline

Definition at line 202 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

void grid_map::Costmap2DConverter< MapType, TranslationTable >::initializeFromCostmap2D ( const costmap_2d::Costmap2D &  costmap2d, MapType &  outputMap  )

inline

Definition at line 207 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

bool grid_map::Costmap2DConverter< MapType, TranslationTable >::initializeFromCostmap2DAtRobotPose ( costmap_2d::Costmap2DROS &  costmap2d, const Length &  length, MapType &  outputMap  )

inline

Initialize the output map at the robot pose of the underlying Costmap2DROS object.

Note: This needs some beyond just fixing the center of the output map to the robot pose itself. To avoid introducing error, you want to shift the center so the underlying costmap2d cells align with the newly created map object. This does that here.

Warning

this does not lock the costmap2d object, you should take care to do so from outside this function in scope with any addLayerFromCostmap2DAtRobotPose calls you wish to make.

Parameters

costmap2d	: the underlying Costmap2DROS object
geometry	size of the subwindow to snapshot around the robot pose
outputMap	: initialise the output map with the required parameters

Definition at line 276 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

void grid_map::Costmap2DConverter< MapType, TranslationTable >::initializeFromGridMap ( const MapType &  gridMap, costmap_2d::Costmap2D &  outputCostmap  )

inline

Initialize cost map size and properties from a grid map.

Parameters

gridMap	Grid map containing size info and properties.
outputCostmap	Resized costmap.

Definition at line 167 of file Costmap2DConverter.hpp.

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

bool grid_map::Costmap2DConverter< MapType, TranslationTable >::setCostmap2DFromGridMap ( const MapType &  gridMap, const std::string &  layer, costmap_2d::Costmap2D &  outputCostmap  )

inline

Load the grid map layer into the costmap2d object.

Parameters

outputMap	from this gridmap type object.
layer	the name of the layer to convert.
outputCostmap	to this costmap type object.

Returns

true if successful, false otherwise.

Definition at line 181 of file Costmap2DConverter.hpp.

Member Data Documentation

template<typename MapType, typename TranslationTable = Costmap2DDefaultTranslationTable<typename MapType::DataType>>

std::string grid_map::Costmap2DConverter< MapType, TranslationTable >::errorMessage_

private

Definition at line 394 of file Costmap2DConverter.hpp.

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

• Costmap2DConverter.hpp