This class converts the costmap_2d into a set of lines (and points) More...

#include <costmap_to_lines_convex_hull.h>

Inheritance diagram for costmap_converter::CostmapToLinesDBSMCCH:

Public Member Functions
virtual void	compute ()
	This method performs the actual work (conversion of the costmap to polygons) More...

	CostmapToLinesDBSMCCH ()
	Constructor. More...

virtual void	initialize (ros::NodeHandle nh)
	Initialize the plugin. More...

virtual	~CostmapToLinesDBSMCCH ()
	Destructor. More...

Public Member Functions inherited from costmap_converter::CostmapToPolygonsDBSMCCH
	CostmapToPolygonsDBSMCCH ()
	Constructor. More...

PolygonContainerConstPtr	getPolygons ()
	Get a shared instance of the current polygon container. More...

virtual void	setCostmap2D (costmap_2d::Costmap2D *costmap)
	Pass a pointer to the costap to the plugin. More...

virtual void	updateCostmap2D ()
	Get updated data from the previously set Costmap2D. More...

virtual	~CostmapToPolygonsDBSMCCH ()
	Destructor. More...

Public Member Functions inherited from costmap_converter::BaseCostmapToPolygons
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 void	setOdomTopic (const std::string &odom_topic)
	Set name of robot's odometry topic. More...

virtual bool	stackedCostmapConversion ()
	Determines whether an additional plugin for subsequent costmap conversion is specified. 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	~BaseCostmapToPolygons ()
	Destructor. More...

Protected Member Functions
void	extractPointsAndLines (std::vector< KeyPoint > &cluster, const geometry_msgs::Polygon &polygon, std::back_insert_iterator< std::vector< geometry_msgs::Polygon > > lines)
	Extract points and lines from a given cluster by checking all keypoint pairs of the convex hull for a minimum number of support points. More...

Protected Member Functions inherited from costmap_converter::CostmapToPolygonsDBSMCCH
void	convexHull (std::vector< KeyPoint > &cluster, geometry_msgs::Polygon &polygon)
	Compute the convex hull for a single cluster (monotone chain algorithm) More...

void	convexHull2 (std::vector< KeyPoint > &cluster, geometry_msgs::Polygon &polygon)
	Compute the convex hull for a single cluster. More...

template<typename P1 , typename P2 , typename P3 >
long double	cross (const P1 &O, const P2 &A, const P3 &B)
	2D Cross product of two vectors defined by two points and a common origin More...

void	dbScan (const std::vector< KeyPoint > &occupied_cells, std::vector< std::vector< KeyPoint > > &clusters)
	DBSCAN algorithm for clustering. More...

void	regionQuery (const std::vector< KeyPoint > &occupied_cells, int curr_index, std::vector< int > &neighbor_indices)
	Helper function for dbScan to search for neighboring points. More...

void	updatePolygonContainer (PolygonContainerPtr polygons)
	Thread-safe update of the internal polygon container (that is shared using getPolygons() from outside this class) 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...

Protected Attributes
int	min_support_pts_

double	support_pts_max_dist_

double	support_pts_max_dist_inbetween_

Protected Attributes inherited from costmap_converter::CostmapToPolygonsDBSMCCH
double	max_distance_
	Parameter for DB_Scan, maximum distance to neighbors [m]. More...

int	max_pts_
	Parameter for DB_Scan: maximum number of points that define a cluster (to avoid large L- and U-shapes) More...

double	min_keypoint_separation_
	Clear keypoints of the convex polygon that are close to each other [distance in meters] (0: keep all) More...

int	min_pts_
	Parameter for DB_Scan: minimum number of points that define a cluster. More...

std::vector< KeyPoint >	occupied_cells_
	List of occupied cells in the current map (updated by updateCostmap2D()) More...

Private Member Functions
void	reconfigureCB (CostmapToLinesDBSMCCHConfig &config, uint32_t level)
	Callback for the dynamic_reconfigure node. More...

Private Attributes
dynamic_reconfigure::Server< CostmapToLinesDBSMCCHConfig > *	dynamic_recfg_
	Dynamic reconfigure server to allow config modifications at runtime. More...

Additional Inherited Members
Static Public Member Functions inherited from costmap_converter::CostmapToPolygonsDBSMCCH
template<typename Point >
static void	convertPointToPolygon (const Point &point, geometry_msgs::Polygon &polygon)
	Convert a generi point type to a geometry_msgs::Polygon. More...

Detailed Description

This class converts the costmap_2d into a set of lines (and points)

The conversion is performed in three stages:

Clusters in the costmap are collected using the DBSCAN Algorithm (https://en.wikipedia.org/wiki/DBSCAN) Reference: Ester, Martin; Kriegel, Hans-Peter; Sander, Jörg; Xu, Xiaowei, A density-based algorithm for discovering clusters in large spatial databases with noise. Proceedings of the Second International Conference on Knowledge Discovery and Data Mining. AAAI Press. 1996. pp. 226–231. ISBN 1-57735-004-9.
In the subsequent stage, the convex hull of each cluster is determined using the monotone chain algorithm aka Andrew's algorithm: C++ implementation example: http://www.algorithmist.com/index.php/Monotone_Chain_Convex_Hull ( GNU Free Documentation License 1.2 ) Reference: A. M. Andrew, "Another Efficient Algorithm for Convex Hulls in Two Dimensions", Info. Proc. Letters 9, 216-219 (1979).
In the third step extract lines from each polygon (convex hull) if there exist at least a predefined number of support points.

The output is a container of polygons (but each polygon does only contain a single vertex (point) or two vertices (line)

Definition at line 69 of file costmap_to_lines_convex_hull.h.

Constructor & Destructor Documentation

costmap_converter::CostmapToLinesDBSMCCH::CostmapToLinesDBSMCCH ( )

Constructor.

Definition at line 50 of file costmap_to_lines_convex_hull.cpp.

costmap_converter::CostmapToLinesDBSMCCH::~CostmapToLinesDBSMCCH ( )

virtual

Destructor.

Definition at line 55 of file costmap_to_lines_convex_hull.cpp.

Member Function Documentation

void costmap_converter::CostmapToLinesDBSMCCH::compute ( )

virtual

This method performs the actual work (conversion of the costmap to polygons)

Reimplemented from costmap_converter::CostmapToPolygonsDBSMCCH.

Definition at line 99 of file costmap_to_lines_convex_hull.cpp.

void costmap_converter::CostmapToLinesDBSMCCH::extractPointsAndLines	(	std::vector< KeyPoint > &	cluster,
		const geometry_msgs::Polygon &	polygon,
		std::back_insert_iterator< std::vector< geometry_msgs::Polygon > >	lines
	)

protected

Extract points and lines from a given cluster by checking all keypoint pairs of the convex hull for a minimum number of support points.

Parameters

	cluster	list of points in the cluster
	polygon	convex hull of the cluster `cluster`
[out]	lines	back_inserter object to a sequence of polygon msgs (new lines will be pushed back)

Definition at line 139 of file costmap_to_lines_convex_hull.cpp.

void costmap_converter::CostmapToLinesDBSMCCH::initialize ( ros::NodeHandle nh )

virtual

Initialize the plugin.

Parameters

nh	Nodehandle that defines the namespace for parameters

Reimplemented from costmap_converter::CostmapToPolygonsDBSMCCH.

Definition at line 61 of file costmap_to_lines_convex_hull.cpp.

void costmap_converter::CostmapToLinesDBSMCCH::reconfigureCB	(	CostmapToLinesDBSMCCHConfig &	config,
		uint32_t	level
	)

private

Callback for the dynamic_reconfigure node.

This callback allows to modify parameters dynamically at runtime without restarting the node

Parameters

config	Reference to the dynamic reconfigure config
level	Dynamic reconfigure level

Definition at line 284 of file costmap_to_lines_convex_hull.cpp.

Member Data Documentation

dynamic_reconfigure::Server<CostmapToLinesDBSMCCHConfig>* costmap_converter::CostmapToLinesDBSMCCH::dynamic_recfg_

private

Dynamic reconfigure server to allow config modifications at runtime.

Definition at line 124 of file costmap_to_lines_convex_hull.h.

int costmap_converter::CostmapToLinesDBSMCCH::min_support_pts_

protected

Definition at line 111 of file costmap_to_lines_convex_hull.h.

double costmap_converter::CostmapToLinesDBSMCCH::support_pts_max_dist_

protected

Definition at line 110 of file costmap_to_lines_convex_hull.h.

double costmap_converter::CostmapToLinesDBSMCCH::support_pts_max_dist_inbetween_

protected

Definition at line 109 of file costmap_to_lines_convex_hull.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation