#include <static_layer.h>

Inheritance diagram for costmap_2d::StaticLayer:

Public Member Functions
virtual void	activate ()
	Restart publishers if they've been stopped. More...

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

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 ()

	StaticLayer ()

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	~StaticLayer ()

Public Member Functions inherited from costmap_2d::CostmapLayer
void	addExtraBounds (double mx0, double my0, double mx1, double my1)

	CostmapLayer ()

bool	isDiscretized ()

Public Member Functions inherited from costmap_2d::Layer
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 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...

virtual	~Layer ()

Public Member Functions inherited from costmap_2d::Costmap2D
unsigned int	cellDistance (double world_dist)
	Given distance in the world... convert it to cells. More...

void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that fill a convex polygon. More...

bool	copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y)
	Turn this costmap into a copy of a window of a costmap passed in. More...

	Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value=0)
	Constructor for a costmap. More...

	Costmap2D (const Costmap2D &map)
	Copy constructor for a costmap, creates a copy efficiently. More...

	Costmap2D ()
	Default constructor. More...

unsigned char *	getCharMap () const
	Will return a pointer to the underlying unsigned char array used as the costmap. More...

unsigned char	getCost (unsigned int mx, unsigned int my) const
	Get the cost of a cell in the costmap. More...

unsigned char	getDefaultValue ()

unsigned int	getIndex (unsigned int mx, unsigned int my) const
	Given two map coordinates... compute the associated index. More...

mutex_t *	getMutex ()

double	getOriginX () const
	Accessor for the x origin of the costmap. More...

double	getOriginY () const
	Accessor for the y origin of the costmap. More...

double	getResolution () const
	Accessor for the resolution of the costmap. More...

unsigned int	getSizeInCellsX () const
	Accessor for the x size of the costmap in cells. More...

unsigned int	getSizeInCellsY () const
	Accessor for the y size of the costmap in cells. More...

double	getSizeInMetersX () const
	Accessor for the x size of the costmap in meters. More...

double	getSizeInMetersY () const
	Accessor for the y size of the costmap in meters. More...

void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const
	Given an index... compute the associated map coordinates. More...

void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const
	Convert from map coordinates to world coordinates. More...

Costmap2D &	operator= (const Costmap2D &map)
	Overloaded assignment operator. More...

void	polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that make up the outline of a polygon. More...

void	resetMap (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn)

void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y)

bool	saveMap (std::string file_name)
	Save the costmap out to a pgm file. More...

bool	setConvexPolygonCost (const std::vector< geometry_msgs::Point > &polygon, unsigned char cost_value)
	Sets the cost of a convex polygon to a desired value. More...

void	setCost (unsigned int mx, unsigned int my, unsigned char cost)
	Set the cost of a cell in the costmap. More...

void	setDefaultValue (unsigned char c)

virtual void	updateOrigin (double new_origin_x, double new_origin_y)
	Move the origin of the costmap to a new location.... keeping data when it can. More...

bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const
	Convert from world coordinates to map coordinates. More...

void	worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates, constraining results to legal bounds. More...

void	worldToMapNoBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates without checking for legal bounds. More...

virtual	~Costmap2D ()
	Destructor. More...

Private Member Functions
void	incomingMap (const nav_msgs::OccupancyGridConstPtr &new_map)
	Callback to update the costmap's map from the map_server. More...

void	incomingUpdate (const map_msgs::OccupancyGridUpdateConstPtr &update)

unsigned char	interpretValue (unsigned char value)

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

Private Attributes
dynamic_reconfigure::Server< costmap_2d::GenericPluginConfig > *	dsrv_

bool	first_map_only_
	Store the first static map and reuse it on reinitializing. More...

std::string	global_frame_
	The global frame for the costmap. More...

bool	has_updated_data_

unsigned int	height_

unsigned char	lethal_threshold_

std::string	map_frame_

bool	map_received_

ros::Subscriber	map_sub_

ros::Subscriber	map_update_sub_

bool	subscribe_to_updates_
	frame that map is located in More...

bool	track_unknown_space_

bool	trinary_costmap_

unsigned char	unknown_cost_value_

bool	use_maximum_

unsigned int	width_

unsigned int	x_

unsigned int	y_

Additional Inherited Members
Public Types inherited from costmap_2d::Costmap2D
typedef boost::recursive_mutex	mutex_t

Protected Member Functions inherited from costmap_2d::CostmapLayer
void	touch (double x, double y, double min_x, double min_y, double max_x, double max_y)

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

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

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

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

void	useExtraBounds (double min_x, double min_y, double max_x, double max_y)

Protected Member Functions inherited from costmap_2d::Costmap2D
template<typename data_type >
void	copyMapRegion (data_type source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, unsigned int sm_size_x, data_type dest_map, unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int region_size_y)
	Copy a region of a source map into a destination map. More...

virtual void	deleteMaps ()
	Deletes the costmap, static_map, and markers data structures. More...

virtual void	initMaps (unsigned int size_x, unsigned int size_y)
	Initializes the costmap, static_map, and markers data structures. More...

template<class ActionType >
void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX)
	Raytrace a line and apply some action at each step. More...

virtual void	resetMaps ()
	Resets the costmap and static_map to be unknown space. More...

Protected Attributes inherited from costmap_2d::CostmapLayer
bool	has_extra_bounds_

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_

Protected Attributes inherited from costmap_2d::Costmap2D
unsigned char *	costmap_

unsigned char	default_value_

double	origin_x_

double	origin_y_

double	resolution_

unsigned int	size_x_

unsigned int	size_y_

Detailed Description

Definition at line 53 of file static_layer.h.

Constructor & Destructor Documentation

costmap_2d::StaticLayer::StaticLayer ( )

Definition at line 52 of file static_layer.cpp.

costmap_2d::StaticLayer::~StaticLayer ( )

virtual

Definition at line 54 of file static_layer.cpp.

Member Function Documentation

void costmap_2d::StaticLayer::activate ( )

virtual

Restart publishers if they've been stopped.

Reimplemented from costmap_2d::Layer.

Definition at line 243 of file static_layer.cpp.

void costmap_2d::StaticLayer::deactivate ( )

virtual

Stop publishers.

Reimplemented from costmap_2d::Layer.

Definition at line 248 of file static_layer.cpp.

void costmap_2d::StaticLayer::incomingMap ( const nav_msgs::OccupancyGridConstPtr & new_map )

private

Callback to update the costmap's map from the map_server.

Parameters

new_map The map to put into the costmap. The origin of the new map along with its size will determine what parts of the costmap's static map are overwritten.

Definition at line 164 of file static_layer.cpp.

void costmap_2d::StaticLayer::incomingUpdate ( const map_msgs::OccupancyGridUpdateConstPtr & update )

private

Definition at line 224 of file static_layer.cpp.

unsigned char costmap_2d::StaticLayer::interpretValue ( unsigned char value )

private

Definition at line 148 of file static_layer.cpp.

void costmap_2d::StaticLayer::matchSize ( )

virtual

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

Reimplemented from costmap_2d::CostmapLayer.

Definition at line 136 of file static_layer.cpp.

void costmap_2d::StaticLayer::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 60 of file static_layer.cpp.

void costmap_2d::StaticLayer::reconfigureCB	(	costmap_2d::GenericPluginConfig &	config,
		uint32_t	level
	)

private

Definition at line 124 of file static_layer.cpp.

void costmap_2d::StaticLayer::reset ( )

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 255 of file static_layer.cpp.

void costmap_2d::StaticLayer::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 267 of file static_layer.cpp.

void costmap_2d::StaticLayer::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 291 of file static_layer.cpp.

Member Data Documentation

dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>* costmap_2d::StaticLayer::dsrv_

private

Definition at line 96 of file static_layer.h.

bool costmap_2d::StaticLayer::first_map_only_

private

Store the first static map and reuse it on reinitializing.

Definition at line 90 of file static_layer.h.

std::string costmap_2d::StaticLayer::global_frame_

private

The global frame for the costmap.

Definition at line 82 of file static_layer.h.

bool costmap_2d::StaticLayer::has_updated_data_

private

Definition at line 86 of file static_layer.h.

unsigned int costmap_2d::StaticLayer::height_

private

Definition at line 87 of file static_layer.h.

unsigned char costmap_2d::StaticLayer::lethal_threshold_

private

Definition at line 94 of file static_layer.h.

std::string costmap_2d::StaticLayer::map_frame_

private

Definition at line 83 of file static_layer.h.

bool costmap_2d::StaticLayer::map_received_

private

Definition at line 85 of file static_layer.h.

ros::Subscriber costmap_2d::StaticLayer::map_sub_

private

Definition at line 92 of file static_layer.h.

ros::Subscriber costmap_2d::StaticLayer::map_update_sub_

private

Definition at line 92 of file static_layer.h.

bool costmap_2d::StaticLayer::subscribe_to_updates_

private

frame that map is located in

Definition at line 84 of file static_layer.h.

bool costmap_2d::StaticLayer::track_unknown_space_

private

Definition at line 88 of file static_layer.h.

bool costmap_2d::StaticLayer::trinary_costmap_

private

Definition at line 91 of file static_layer.h.

unsigned char costmap_2d::StaticLayer::unknown_cost_value_

private

Definition at line 94 of file static_layer.h.

bool costmap_2d::StaticLayer::use_maximum_

private

Definition at line 89 of file static_layer.h.

unsigned int costmap_2d::StaticLayer::width_

private

Definition at line 87 of file static_layer.h.

unsigned int costmap_2d::StaticLayer::x_

private

Definition at line 87 of file static_layer.h.

unsigned int costmap_2d::StaticLayer::y_

private

Definition at line 87 of file static_layer.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation