#include <wavefront_map_accessor.h>

Inheritance diagram for base_local_planner::WavefrontMapAccessor:

Public Member Functions
void	synchronize ()

	WavefrontMapAccessor (MapGrid *map, double outer_radius)

virtual	~WavefrontMapAccessor ()

Public Member Functions inherited from costmap_2d::Costmap2D
unsigned int	cellDistance (double world_dist)

void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)

bool	copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y)

	Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value=0)

	Costmap2D (const Costmap2D &map)

	Costmap2D ()

unsigned char *	getCharMap () const

unsigned char	getCost (unsigned int mx, unsigned int my) const

unsigned char	getDefaultValue ()

unsigned int	getIndex (unsigned int mx, unsigned int my) const

mutex_t *	getMutex ()

double	getOriginX () const

double	getOriginY () const

double	getResolution () const

unsigned int	getSizeInCellsX () const

unsigned int	getSizeInCellsY () const

double	getSizeInMetersX () const

double	getSizeInMetersY () const

void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const

void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const

Costmap2D &	operator= (const Costmap2D &map)

void	polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)

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)

bool	setConvexPolygonCost (const std::vector< geometry_msgs::Point > &polygon, unsigned char cost_value)

void	setCost (unsigned int mx, unsigned int my, unsigned char cost)

void	setDefaultValue (unsigned char c)

virtual void	updateOrigin (double new_origin_x, double new_origin_y)

bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const

void	worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const

void	worldToMapNoBounds (double wx, double wy, int &mx, int &my) const

virtual	~Costmap2D ()

Private Attributes
MapGrid *	map_

double	outer_radius_

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

Protected Member Functions inherited from costmap_2d::Costmap2D
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)

virtual void	deleteMaps ()

virtual void	initMaps (unsigned int size_x, unsigned int size_y)

void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX)

virtual void	resetMaps ()

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

Map_grids rely on costmaps to identify obstacles. We need a costmap that we can easily manipulate for unit tests. This class has a grid map where we can set grid cell state, and a synchronize method to make the costmap match.

Definition at line 17 of file wavefront_map_accessor.h.

Constructor & Destructor Documentation

◆ WavefrontMapAccessor()

base_local_planner::WavefrontMapAccessor::WavefrontMapAccessor	(	MapGrid *	map,
		double	outer_radius
	)

inline

Definition at line 19 of file wavefront_map_accessor.h.

◆ ~WavefrontMapAccessor()

virtual base_local_planner::WavefrontMapAccessor::~WavefrontMapAccessor ( )

inlinevirtual

Definition at line 25 of file wavefront_map_accessor.h.

Member Function Documentation

◆ synchronize()

void base_local_planner::WavefrontMapAccessor::synchronize ( )

inline

Definition at line 27 of file wavefront_map_accessor.h.

Member Data Documentation

◆ map_

MapGrid* base_local_planner::WavefrontMapAccessor::map_

private

Definition at line 42 of file wavefront_map_accessor.h.

◆ outer_radius_

double base_local_planner::WavefrontMapAccessor::outer_radius_

private

Definition at line 43 of file wavefront_map_accessor.h.

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

wavefront_map_accessor.h

Public Member Functions

Private Attributes

Additional Inherited Members