#include <costmap_layer.h>

Inheritance diagram for costmap_2d::CostmapLayer:

[legend]

Public Member Functions
void	addExtraBounds (double mx0, double my0, double mx1, double my1)

virtual void	clearArea (int start_x, int start_y, int end_x, int end_y)

	CostmapLayer ()

bool	isDiscretized ()

virtual void	matchSize ()
	Implement this to make this layer match the size of the parent costmap. More...

Public Member Functions inherited from costmap_2d::Layer
virtual void	activate ()
	Restart publishers if they've been stopped. More...

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

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, tf2_ros::Buffer 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 void	reset ()

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 (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	~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...

Protected Member Functions
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::Layer
virtual void	onInitialize ()
	This is called at the end of initialize(). Override to implement subclass-specific initialization. More...

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
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_

tf2_ros::Buffer *	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_

Private Attributes
double	extra_max_x_

double	extra_max_y_

double	extra_min_x_

double	extra_min_y_

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

Detailed Description

Definition at line 47 of file costmap_layer.h.

Constructor & Destructor Documentation

◆ CostmapLayer()

costmap_2d::CostmapLayer::CostmapLayer ( )

inline

Definition at line 50 of file costmap_layer.h.

Member Function Documentation

◆ addExtraBounds()

void costmap_2d::CostmapLayer::addExtraBounds	(	double	mx0,
		double	my0,
		double	mx1,
		double	my1
	)

If an external source changes values in the costmap, it should call this method with the area that it changed to ensure that the costmap includes this region as well.

Parameters

mx0	Minimum x value of the bounding box
my0	Minimum y value of the bounding box
mx1	Maximum x value of the bounding box
my1	Maximum y value of the bounding box

Definition at line 38 of file costmap_layer.cpp.

◆ clearArea()

void costmap_2d::CostmapLayer::clearArea	(	int	start_x,
		int	start_y,
		int	end_x,
		int	end_y
	)

virtual

Definition at line 21 of file costmap_layer.cpp.

◆ isDiscretized()

bool costmap_2d::CostmapLayer::isDiscretized ( )

inline

Definition at line 54 of file costmap_layer.h.

◆ matchSize()

void costmap_2d::CostmapLayer::matchSize ( )

virtual

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

Reimplemented from costmap_2d::Layer.

Reimplemented in costmap_2d::VoxelLayer, and costmap_2d::StaticLayer.

Definition at line 14 of file costmap_layer.cpp.

◆ touch()

void costmap_2d::CostmapLayer::touch	(	double	x,
		double	y,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

protected

Updates the bounding box specified in the parameters to include the location (x,y)

Parameters

x	x-coordinate to include
y	y-coordinate to include
min_x	bounding box
min_y	bounding box
max_x	bounding box
max_y	bounding box

Definition at line 6 of file costmap_layer.cpp.

◆ updateWithAddition()

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

protected

Definition at line 127 of file costmap_layer.cpp.

◆ updateWithMax()

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

protected

Definition at line 63 of file costmap_layer.cpp.

◆ updateWithOverwrite()

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

protected

Definition at line 108 of file costmap_layer.cpp.

◆ updateWithTrueOverwrite()

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

protected

Definition at line 89 of file costmap_layer.cpp.

◆ useExtraBounds()

void costmap_2d::CostmapLayer::useExtraBounds	(	double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

protected

Definition at line 47 of file costmap_layer.cpp.

Member Data Documentation

◆ extra_max_x_

double costmap_2d::CostmapLayer::extra_max_x_

private

Definition at line 147 of file costmap_layer.h.

◆ extra_max_y_

double costmap_2d::CostmapLayer::extra_max_y_

private

Definition at line 147 of file costmap_layer.h.

◆ extra_min_x_

double costmap_2d::CostmapLayer::extra_min_x_

private

Definition at line 147 of file costmap_layer.h.

◆ extra_min_y_

double costmap_2d::CostmapLayer::extra_min_y_

private

Definition at line 147 of file costmap_layer.h.

◆ has_extra_bounds_

bool costmap_2d::CostmapLayer::has_extra_bounds_

protected

Definition at line 144 of file costmap_layer.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CostmapLayer()

Member Function Documentation

◆ addExtraBounds()

◆ clearArea()

◆ isDiscretized()

◆ matchSize()

◆ touch()

◆ updateWithAddition()

◆ updateWithMax()

◆ updateWithOverwrite()

◆ updateWithTrueOverwrite()

◆ useExtraBounds()

Member Data Documentation

◆ extra_max_x_

◆ extra_max_y_

◆ extra_min_x_

◆ extra_min_y_

◆ has_extra_bounds_