Classes
class	CellData
	Storage for cell information used during obstacle inflation. More...

class	Costmap2D
	A 2D costmap provides a mapping between points in the world and their associated "costs". More...

class	Costmap2DPublisher
	A tool to periodically publish visualization data from a Costmap2D. More...

class	Costmap2DROS
	A ROS wrapper for a 2D Costmap. Handles subscribing to topics that provide observations about obstacles in either the form of PointCloud or LaserScan messages. More...

class	CostmapLayer

class	CostmapTester

class	InflationLayer

class	Layer

class	LayeredCostmap
	Instantiates different layer plugins and aggregates them into one score. More...

struct	MapLocation

class	Observation
	Stores an observation in terms of a point cloud and the origin of the source. More...

class	ObservationBuffer
	Takes in point clouds from sensors, transforms them to the desired frame, and stores them. More...

class	ObstacleLayer

class	StaticLayer

class	VoxelLayer

Functions
void	calculateMinAndMaxDistances (const std::vector< geometry_msgs::Point > &footprint, double &min_dist, double &max_dist)
	Calculate the extreme distances for the footprint. More...

double	getNumberFromXMLRPC (XmlRpc::XmlRpcValue &value, const std::string &full_param_name)

std::vector< geometry_msgs::Point >	makeFootprintFromParams (ros::NodeHandle &nh)
	Read the ros-params "footprint" and/or "robot_radius" from the given NodeHandle using searchParam() to go up the tree. More...

std::vector< geometry_msgs::Point >	makeFootprintFromRadius (double radius)
	Create a circular footprint from a given radius. More...

bool	makeFootprintFromString (const std::string &footprint_string, std::vector< geometry_msgs::Point > &footprint)
	Make the footprint from the given string. More...

std::vector< geometry_msgs::Point >	makeFootprintFromXMLRPC (XmlRpc::XmlRpcValue &footprint_xmlrpc, const std::string &full_param_name)
	Create the footprint from the given XmlRpcValue. More...

void	move_parameter (ros::NodeHandle &old_h, ros::NodeHandle &new_h, std::string name, bool should_delete=true)

void	padFootprint (std::vector< geometry_msgs::Point > &footprint, double padding)
	Adds the specified amount of padding to the footprint (in place) More...

std::vector< std::vector< float > >	parseVVF (const std::string &input, std::string &error_return)
	Parse a vector of vectors of floats from a string. More...

geometry_msgs::Point	toPoint (geometry_msgs::Point32 pt)
	Convert Point32 to Point. More...

geometry_msgs::Point32	toPoint32 (geometry_msgs::Point pt)
	Convert Point to Point32. More...

std::vector< geometry_msgs::Point >	toPointVector (geometry_msgs::Polygon polygon)
	Convert Polygon msg to vector of Points. More...

geometry_msgs::Polygon	toPolygon (std::vector< geometry_msgs::Point > pts)
	Convert vector of Points to Polygon msg. More...

void	transformFootprint (double x, double y, double theta, const std::vector< geometry_msgs::Point > &footprint_spec, std::vector< geometry_msgs::Point > &oriented_footprint)
	Given a pose and base footprint, build the oriented footprint of the robot (list of Points) More...

void	transformFootprint (double x, double y, double theta, const std::vector< geometry_msgs::Point > &footprint_spec, geometry_msgs::PolygonStamped &oriented_footprint)
	Given a pose and base footprint, build the oriented footprint of the robot (PolygonStamped) More...

void	writeFootprintToParam (ros::NodeHandle &nh, const std::vector< geometry_msgs::Point > &footprint)
	Write the current unpadded_footprint_ to the "footprint" parameter of the given NodeHandle so that dynamic_reconfigure will see the new value. More...

Variables
static const unsigned char	FREE_SPACE = 0

static const unsigned char	INSCRIBED_INFLATED_OBSTACLE = 253

static const unsigned char	LETHAL_OBSTACLE = 254

static const unsigned char	NO_INFORMATION = 255

Detailed Description

Provides a mapping for often used cost values

Function Documentation

◆ calculateMinAndMaxDistances()

void costmap_2d::calculateMinAndMaxDistances	(	const std::vector< geometry_msgs::Point > &	footprint,
		double &	min_dist,
		double &	max_dist
	)

Calculate the extreme distances for the footprint.

Parameters

footprint	The footprint to examine
min_dist	Output parameter of the minimum distance
max_dist	Output parameter of the maximum distance

Definition at line 41 of file footprint.cpp.

◆ getNumberFromXMLRPC()

double costmap_2d::getNumberFromXMLRPC	(	XmlRpc::XmlRpcValue &	value,
		const std::string &	full_param_name
	)

Definition at line 273 of file footprint.cpp.

◆ makeFootprintFromParams()

std::vector< geometry_msgs::Point > costmap_2d::makeFootprintFromParams ( ros::NodeHandle & nh )

Read the ros-params "footprint" and/or "robot_radius" from the given NodeHandle using searchParam() to go up the tree.

Definition at line 212 of file footprint.cpp.

◆ makeFootprintFromRadius()

std::vector< geometry_msgs::Point > costmap_2d::makeFootprintFromRadius ( double radius )

Create a circular footprint from a given radius.

Definition at line 150 of file footprint.cpp.

◆ makeFootprintFromString()

bool costmap_2d::makeFootprintFromString	(	const std::string &	footprint_string,
		std::vector< geometry_msgs::Point > &	footprint
	)

Make the footprint from the given string.

Format should be bracketed array of arrays of floats, like so: [[1.0, 2.2], [3.3, 4.2], ...]

Definition at line 170 of file footprint.cpp.

◆ makeFootprintFromXMLRPC()

std::vector< geometry_msgs::Point > costmap_2d::makeFootprintFromXMLRPC	(	XmlRpc::XmlRpcValue &	footprint_xmlrpc,
		const std::string &	full_param_name
	)

Create the footprint from the given XmlRpcValue.

Parameters

footprint_xmlrpc	should be an array of arrays, where the top-level array should have 3 or more elements, and the sub-arrays should all have exactly 2 elements (x and y coordinates).
full_param_name	this is the full name of the rosparam from which the footprint_xmlrpc value came. It is used only for reporting errors.

Definition at line 287 of file footprint.cpp.

◆ move_parameter()

void costmap_2d::move_parameter	(	ros::NodeHandle &	old_h,
		ros::NodeHandle &	new_h,
		std::string	name,
		bool	should_delete = `true`
	)

Definition at line 53 of file costmap_2d_ros.cpp.

◆ padFootprint()

void costmap_2d::padFootprint	(	std::vector< geometry_msgs::Point > &	footprint,
		double	padding
	)

Adds the specified amount of padding to the footprint (in place)

Definition at line 138 of file footprint.cpp.

◆ parseVVF()

std::vector< std::vector< float > > costmap_2d::parseVVF	(	const std::string &	input,
		std::string &	error_return
	)

Parse a vector of vectors of floats from a string.

Parse a vector of vector of floats from a string.

Parameters

error_return If no error, error_return is set to "". If error, error_return will describe the error. Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...]

On error, error_return is set and the return value could be anything, like part of a successful parse.

Parameters

input
error_return	Syntax is [[1.0, 2.0], [3.3, 4.4, 5.5], ...]

Definition at line 44 of file array_parser.cpp.

◆ toPoint()

geometry_msgs::Point costmap_2d::toPoint ( geometry_msgs::Point32 pt )

Convert Point32 to Point.

Definition at line 78 of file footprint.cpp.

◆ toPoint32()

geometry_msgs::Point32 costmap_2d::toPoint32 ( geometry_msgs::Point pt )

Convert Point to Point32.

Definition at line 69 of file footprint.cpp.

◆ toPointVector()

std::vector< geometry_msgs::Point > costmap_2d::toPointVector ( geometry_msgs::Polygon polygon )

Convert Polygon msg to vector of Points.

Definition at line 96 of file footprint.cpp.

◆ toPolygon()

geometry_msgs::Polygon costmap_2d::toPolygon ( std::vector< geometry_msgs::Point > pts )

Convert vector of Points to Polygon msg.

Definition at line 87 of file footprint.cpp.

◆ transformFootprint() [1/2]

void costmap_2d::transformFootprint	(	double	x,
		double	y,
		double	theta,
		const std::vector< geometry_msgs::Point > &	footprint_spec,
		std::vector< geometry_msgs::Point > &	oriented_footprint
	)

Given a pose and base footprint, build the oriented footprint of the robot (list of Points)

Parameters

x	The x position of the robot
y	The y position of the robot
theta	The orientation of the robot
footprint_spec	Basic shape of the footprint
oriented_footprint	Will be filled with the points in the oriented footprint of the robot

Definition at line 106 of file footprint.cpp.

◆ transformFootprint() [2/2]

void costmap_2d::transformFootprint	(	double	x,
		double	y,
		double	theta,
		const std::vector< geometry_msgs::Point > &	footprint_spec,
		geometry_msgs::PolygonStamped &	oriented_footprint
	)

Given a pose and base footprint, build the oriented footprint of the robot (PolygonStamped)

Parameters

x	The x position of the robot
y	The y position of the robot
theta	The orientation of the robot
footprint_spec	Basic shape of the footprint
oriented_footprint	Will be filled with the points in the oriented footprint of the robot

Definition at line 122 of file footprint.cpp.

◆ writeFootprintToParam()

void costmap_2d::writeFootprintToParam	(	ros::NodeHandle &	nh,
		const std::vector< geometry_msgs::Point > &	footprint
	)

Write the current unpadded_footprint_ to the "footprint" parameter of the given NodeHandle so that dynamic_reconfigure will see the new value.

Definition at line 252 of file footprint.cpp.

Variable Documentation

◆ FREE_SPACE

const unsigned char costmap_2d::FREE_SPACE = 0

static

Definition at line 45 of file cost_values.h.

◆ INSCRIBED_INFLATED_OBSTACLE

const unsigned char costmap_2d::INSCRIBED_INFLATED_OBSTACLE = 253

static

Definition at line 44 of file cost_values.h.

◆ LETHAL_OBSTACLE

const unsigned char costmap_2d::LETHAL_OBSTACLE = 254

static

Definition at line 43 of file cost_values.h.

◆ NO_INFORMATION

const unsigned char costmap_2d::NO_INFORMATION = 255

static

Definition at line 42 of file cost_values.h.

Classes

Functions

Variables

Detailed Description

Function Documentation

◆ calculateMinAndMaxDistances()

◆ getNumberFromXMLRPC()

◆ makeFootprintFromParams()

◆ makeFootprintFromRadius()

◆ makeFootprintFromString()

◆ makeFootprintFromXMLRPC()

◆ move_parameter()

◆ padFootprint()

◆ parseVVF()

◆ toPoint()

◆ toPoint32()

◆ toPointVector()

◆ toPolygon()

◆ transformFootprint() [1/2]

◆ transformFootprint() [2/2]

◆ writeFootprintToParam()

Variable Documentation

◆ FREE_SPACE

◆ INSCRIBED_INFLATED_OBSTACLE

◆ LETHAL_OBSTACLE

◆ NO_INFORMATION