static_layer.h
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35  * Author: Eitan Marder-Eppstein
36  * David V. Lu!!
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38 #ifndef COSTMAP_2D_STATIC_LAYER_H_
39 #define COSTMAP_2D_STATIC_LAYER_H_
40 
41 #include <ros/ros.h>
44 #include <costmap_2d/GenericPluginConfig.h>
45 #include <dynamic_reconfigure/server.h>
46 #include <nav_msgs/OccupancyGrid.h>
47 #include <map_msgs/OccupancyGridUpdate.h>
49 
50 namespace costmap_2d
51 {
52 
53 class StaticLayer : public CostmapLayer
54 {
55 public:
56  StaticLayer();
57  virtual ~StaticLayer();
58  virtual void onInitialize();
59  virtual void activate();
60  virtual void deactivate();
61  virtual void reset();
62 
63  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
64  double* max_x, double* max_y);
65  virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
66 
67  virtual void matchSize();
68 
69 private:
76  void incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map);
77  void incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update);
78  void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level);
79 
80  unsigned char interpretValue(unsigned char value);
81 
82  std::string global_frame_;
83  std::string map_frame_;
87  unsigned int x_, y_, width_, height_;
93 
95 
96  dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> *dsrv_;
97 };
98 
99 } // namespace costmap_2d
100 
101 #endif // COSTMAP_2D_STATIC_LAYER_H_
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 up...
virtual void activate()
Restart publishers if they&#39;ve been stopped.
virtual void onInitialize()
This is called at the end of initialize(). Override to implement subclass-specific initialization...
virtual void updateCosts(costmap_2d::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().
virtual void deactivate()
Stop publishers.
dynamic_reconfigure::Server< costmap_2d::GenericPluginConfig > * dsrv_
Definition: static_layer.h:96
unsigned char lethal_threshold_
Definition: static_layer.h:94
bool first_map_only_
Store the first static map and reuse it on reinitializing.
Definition: static_layer.h:90
bool subscribe_to_updates_
frame that map is located in
Definition: static_layer.h:84
void update(const std::string &key, const XmlRpc::XmlRpcValue &v)
std::string global_frame_
The global frame for the costmap.
Definition: static_layer.h:82
void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level)
void incomingMap(const nav_msgs::OccupancyGridConstPtr &new_map)
Callback to update the costmap&#39;s map from the map_server.
unsigned char interpretValue(unsigned char value)
void incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr &update)
ros::Subscriber map_sub_
Definition: static_layer.h:92
A 2D costmap provides a mapping between points in the world and their associated "costs".
Definition: costmap_2d.h:60
ros::Subscriber map_update_sub_
Definition: static_layer.h:92
unsigned char unknown_cost_value_
Definition: static_layer.h:94
virtual void matchSize()
Implement this to make this layer match the size of the parent costmap.


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Wed Jun 22 2022 02:07:03