costmap_wrapper.h
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1 /*
2  * Copyright 2019, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
3  *
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5  * modification, are permitted provided that the following conditions
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32  *
33  * costmap_wrapper.h
34  *
35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
38  *
39  */
40 
41 #ifndef MBF_COSTMAP_NAV__COSTMAP_WRAPPER_H_
42 #define MBF_COSTMAP_NAV__COSTMAP_WRAPPER_H_
43 
45 
46 #include <mbf_utility/types.h>
47 
48 
49 namespace mbf_costmap_nav
50 {
64 {
65 public:
67 
72  CostmapWrapper(const std::string &name, const TFPtr &tf_listener_ptr);
73 
77  virtual ~CostmapWrapper();
78 
84  void reconfigure(double shutdown_costmap, double shutdown_costmap_delay);
85 
89  void clear();
90 
94  void checkActivate();
95 
99  void checkDeactivate();
100 
101 private:
105  void deactivate(const ros::TimerEvent &event);
106 
109 
110  boost::mutex check_costmap_mutex_;
113  int16_t costmap_users_;
116 };
117 
118 } /* namespace mbf_costmap_nav */
119 
120 #endif /* MBF_COSTMAP_NAV__COSTMAP_WRAPPER_H_ */
bool clear_on_shutdown_
clear the costmap, when shutting down
bool shutdown_costmap_
don&#39;t update costmap when not using it
void reconfigure(double shutdown_costmap, double shutdown_costmap_delay)
Reconfiguration method called by dynamic reconfigure.
void checkActivate()
Check whether the costmap should be activated.
ros::Duration shutdown_costmap_delay_
costmap delayed shutdown delay
boost::mutex check_costmap_mutex_
Start/stop costmap mutex; concurrent calls to start can lead to segfault.
void deactivate(const ros::TimerEvent &event)
Timer-triggered deactivation of the costmap.
void checkDeactivate()
Check whether the costmap should and could be deactivated.
The CostmapWrapper class manages access to a costmap by locking/unlocking its mutex and handles (de)a...
ros::Timer shutdown_costmap_timer_
costmap delayed shutdown timer
virtual ~CostmapWrapper()
Destructor.
int16_t costmap_users_
keep track of plugins using costmap
boost::shared_ptr< CostmapWrapper > Ptr
CostmapWrapper(const std::string &name, const TFPtr &tf_listener_ptr)
Constructor.
ros::NodeHandle private_nh_
Private node handle.


mbf_costmap_nav
Author(s): Sebastian Pütz
autogenerated on Fri Nov 6 2020 03:56:29