grid_map::Costmap2DTranslationTable< noInformation, lethalObstacle, inscribedInflatedObstacle, freeSpace > Class Template Reference

#include <Costmap2DConverter.hpp>

Inheritance diagram for grid_map::Costmap2DTranslationTable< noInformation, lethalObstacle, inscribedInflatedObstacle, freeSpace >:

Public Member Functions
	Costmap2DTranslationTable ()=delete

Static Public Member Functions
template<typename DataType >
static void	create (std::vector< DataType > &costTranslationTable)
template<typename DataType >
static DataType	fromCostmap (const uint8_t costmapValue)
template<typename DataType >
static uint8_t	toCostmap (const DataType gridmapValue)

Detailed Description

template<int64_t noInformation, int64_t lethalObstacle, int64_t inscribedInflatedObstacle, int64_t freeSpace>
class grid_map::Costmap2DTranslationTable< noInformation, lethalObstacle, inscribedInflatedObstacle, freeSpace >

Defines the conversion between grid_map and costmap_2d. -> There is only one distinct value for no information in the grid map. -> All values smaller or equal to freeSpace are considered free space (except noInformation). -> All values bigger or equal to lethalObstacle are considered a lethal obstacle (except noInformation). -> All values between inscribedInflatedObstacle and lethalObstacle are considered an inscribed inflated obstacle (except noInformation). -> All other values are interpolated between freeSpace and inscribedInflatedObstacle

Template Parameters

noInformation	Gridmap value that represents no information.
lethalObstacle	Gridmap value (lower bound) for lethal obstacles.
inscribedInflatedObstacle	Gridmap value (lower bound) for inscribed inflated obstacles.
freeSpace	Gridmap value (upper bound) for free space.

Definition at line 39 of file Costmap2DConverter.hpp.

Constructor & Destructor Documentation

template<int64_t noInformation, int64_t lethalObstacle, int64_t inscribedInflatedObstacle, int64_t freeSpace>

grid_map::Costmap2DTranslationTable< noInformation, lethalObstacle, inscribedInflatedObstacle, freeSpace >::Costmap2DTranslationTable ( )

delete

Member Function Documentation

template<int64_t noInformation, int64_t lethalObstacle, int64_t inscribedInflatedObstacle, int64_t freeSpace>

template<typename DataType >

static void grid_map::Costmap2DTranslationTable< noInformation, lethalObstacle, inscribedInflatedObstacle, freeSpace >::create ( std::vector< DataType > &  costTranslationTable )

inlinestatic

Creates a translation table from costmap to grid map. (for backwards compatibility)

Template Parameters

DataType

Data type of the grid map.

Parameters

costTranslationTable

Translation table mapping from costmap value to grid map value.

Definition at line 58 of file Costmap2DConverter.hpp.

template<int64_t noInformation, int64_t lethalObstacle, int64_t inscribedInflatedObstacle, int64_t freeSpace>

template<typename DataType >

static DataType grid_map::Costmap2DTranslationTable< noInformation, lethalObstacle, inscribedInflatedObstacle, freeSpace >::fromCostmap ( const uint8_t  costmapValue )

inlinestatic

Convert a costmap value to a grid map value.

Template Parameters

DataType

Data type of the grid map.

Parameters

costmapValue

Cost map value.

Returns

Equivalent grid map value.

Definition at line 72 of file Costmap2DConverter.hpp.

template<int64_t noInformation, int64_t lethalObstacle, int64_t inscribedInflatedObstacle, int64_t freeSpace>

template<typename DataType >

static uint8_t grid_map::Costmap2DTranslationTable< noInformation, lethalObstacle, inscribedInflatedObstacle, freeSpace >::toCostmap ( const DataType  gridmapValue )

inlinestatic

Convert a grid map value to a costmap value.

Template Parameters

DataType

Data type of the grid map.

Parameters

gridmapValue

Grid map value.

Returns

Equivalent cost map value.

Definition at line 101 of file Costmap2DConverter.hpp.

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

• Costmap2DConverter.hpp