Public Member Functions | Protected Member Functions | Private Attributes | List of all members
costmap_converter::BaseCostmapToDynamicObstacles Class Reference

#include <costmap_converter_interface.h>

Inheritance diagram for costmap_converter::BaseCostmapToDynamicObstacles:
Inheritance graph
[legend]

Public Member Functions

void convertStaticObstacles ()
 Apply the underlying plugin for static costmap conversion. More...
 
PolygonContainerConstPtr getStaticPolygons ()
 Get the converted polygons from the underlying plugin. More...
 
void loadStaticCostmapConverterPlugin (const std::string &plugin_name, ros::NodeHandle nh_parent)
 Load underlying static costmap conversion plugin via plugin-loader. More...
 
void setStaticCostmap (boost::shared_ptr< costmap_2d::Costmap2D > static_costmap)
 Set the costmap for the underlying plugin. More...
 
void setStaticCostmapConverterPlugin (boost::shared_ptr< BaseCostmapToPolygons > static_costmap_converter)
 Set the underlying plugin for subsequent costmap conversion of the static background of the costmap. More...
 
bool stackedCostmapConversion ()
 Determines whether an additional plugin for subsequent costmap conversion is specified. More...
 
- Public Member Functions inherited from costmap_converter::BaseCostmapToPolygons
virtual void compute ()=0
 This method performs the actual work (conversion of the costmap to polygons) More...
 
virtual ObstacleArrayConstPtr getObstacles ()
 Get a shared instance of the current obstacle container If this method is not overwritten by the underlying plugin, the obstacle container just imports getPolygons(). More...
 
virtual PolygonContainerConstPtr getPolygons ()
 Get a shared instance of the current polygon container. More...
 
virtual void initialize (ros::NodeHandle nh)=0
 Initialize the plugin. More...
 
virtual void setCostmap2D (costmap_2d::Costmap2D *costmap)=0
 Pass a pointer to the costap to the plugin. More...
 
virtual void setOdomTopic (const std::string &odom_topic)
 Set name of robot's odometry topic. More...
 
void startWorker (ros::Rate rate, costmap_2d::Costmap2D *costmap, bool spin_thread=false)
 Instantiate a worker that repeatedly coverts the most recent costmap to polygons. The worker is implemented as a timer event that is invoked at a specific rate. The passed costmap pointer must be valid at the complete time and must be lockable. By specifying the argument spin_thread the timer event is invoked in a separate thread and callback queue or otherwise it is called from the global callback queue (of the node in which the plugin is used). More...
 
void stopWorker ()
 Stop the worker that repeatedly converts the costmap to polygons. More...
 
virtual void updateCostmap2D ()=0
 Get updated data from the previously set Costmap2D. More...
 
virtual ~BaseCostmapToPolygons ()
 Destructor. More...
 

Protected Member Functions

 BaseCostmapToDynamicObstacles ()
 Protected constructor that should be called by subclasses. More...
 
- Protected Member Functions inherited from costmap_converter::BaseCostmapToPolygons
 BaseCostmapToPolygons ()
 Protected constructor that should be called by subclasses. More...
 
void spinThread ()
 Blocking method that checks for new timer events (active if startWorker() is called with spin_thread enabled) More...
 
void workerCallback (const ros::TimerEvent &)
 The callback of the worker that performs the actual work (updating the costmap and converting it to polygons) More...
 

Private Attributes

pluginlib::ClassLoader< BaseCostmapToPolygonsstatic_converter_loader_
 
boost::shared_ptr< BaseCostmapToPolygonsstatic_costmap_converter_
 

Detailed Description

Definition at line 272 of file costmap_converter_interface.h.

Constructor & Destructor Documentation

costmap_converter::BaseCostmapToDynamicObstacles::BaseCostmapToDynamicObstacles ( )
inlineprotected

Protected constructor that should be called by subclasses.

Definition at line 356 of file costmap_converter_interface.h.

Member Function Documentation

void costmap_converter::BaseCostmapToDynamicObstacles::convertStaticObstacles ( )
inline

Apply the underlying plugin for static costmap conversion.

Definition at line 325 of file costmap_converter_interface.h.

PolygonContainerConstPtr costmap_converter::BaseCostmapToDynamicObstacles::getStaticPolygons ( )
inline

Get the converted polygons from the underlying plugin.

Returns
Shared instance of the underlying plugins polygon container

Definition at line 334 of file costmap_converter_interface.h.

void costmap_converter::BaseCostmapToDynamicObstacles::loadStaticCostmapConverterPlugin ( const std::string &  plugin_name,
ros::NodeHandle  nh_parent 
)
inline

Load underlying static costmap conversion plugin via plugin-loader.

Parameters
plugin_nameExact class name of the plugin to be loaded, e.g. costmap_converter::CostmapToPolygonsDBSMCCH
nh_parentNodeHandle which is extended by the namespace of the static conversion plugin

Definition at line 282 of file costmap_converter_interface.h.

void costmap_converter::BaseCostmapToDynamicObstacles::setStaticCostmap ( boost::shared_ptr< costmap_2d::Costmap2D static_costmap)
inline

Set the costmap for the underlying plugin.

Parameters
static_costmapCostmap2D, which contains the static part of the original costmap

Definition at line 317 of file costmap_converter_interface.h.

void costmap_converter::BaseCostmapToDynamicObstacles::setStaticCostmapConverterPlugin ( boost::shared_ptr< BaseCostmapToPolygons static_costmap_converter)
inline

Set the underlying plugin for subsequent costmap conversion of the static background of the costmap.

Parameters
static_costmap_convertershared pointer to the static costmap conversion plugin

Definition at line 308 of file costmap_converter_interface.h.

bool costmap_converter::BaseCostmapToDynamicObstacles::stackedCostmapConversion ( )
inlinevirtual

Determines whether an additional plugin for subsequent costmap conversion is specified.

Returns
true, if a plugin for subsequent costmap conversion is specified

Reimplemented from costmap_converter::BaseCostmapToPolygons.

Definition at line 344 of file costmap_converter_interface.h.

Member Data Documentation

pluginlib::ClassLoader<BaseCostmapToPolygons> costmap_converter::BaseCostmapToDynamicObstacles::static_converter_loader_
private

Definition at line 359 of file costmap_converter_interface.h.

boost::shared_ptr<BaseCostmapToPolygons> costmap_converter::BaseCostmapToDynamicObstacles::static_costmap_converter_
private

Definition at line 360 of file costmap_converter_interface.h.


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


costmap_converter
Author(s): Christoph Rösmann , Franz Albers , Otniel Rinaldo
autogenerated on Fri Jun 7 2019 21:48:43