A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller. More...

#include <map_grid.h>

Public Member Functions
void	commonInit ()
	Utility to share initialization code across constructors. More...

void	computeGoalDistance (std::queue< MapCell * > &dist_queue, const costmap_2d::Costmap2D &costmap)
	Compute the distance from each cell in the local map grid to the local goal point. More...

void	computeTargetDistance (std::queue< MapCell * > &dist_queue, const costmap_2d::Costmap2D &costmap)
	Compute the distance from each cell in the local map grid to the planned path. More...

MapCell &	getCell (unsigned int x, unsigned int y)

size_t	getIndex (int x, int y)
	Returns a 1D index into the MapCell array for a 2D index. More...

	MapGrid ()
	Creates a 0x0 map by default. More...

	MapGrid (const MapGrid &mg)
	Copy constructor for a MapGrid. More...

	MapGrid (unsigned int size_x, unsigned int size_y)
	Creates a map of size_x by size_y. More...

double	obstacleCosts ()

MapCell &	operator() (unsigned int x, unsigned int y)
	Returns a map cell accessed by (col, row) More...

MapCell	operator() (unsigned int x, unsigned int y) const
	Returns a map cell accessed by (col, row) More...

MapGrid &	operator= (const MapGrid &mg)
	Assignment operator for a MapGrid. More...

void	resetPathDist ()
	reset path distance fields for all cells More...

void	setLocalGoal (const costmap_2d::Costmap2D &costmap, const std::vector< geometry_msgs::PoseStamped > &global_plan)
	Update what cell is considered the next local goal. More...

void	setTargetCells (const costmap_2d::Costmap2D &costmap, const std::vector< geometry_msgs::PoseStamped > &global_plan)
	Update what cells are considered path based on the global plan. More...

void	sizeCheck (unsigned int size_x, unsigned int size_y)
	check if we need to resize More...

double	unreachableCellCosts ()

bool	updatePathCell (MapCell current_cell, MapCell check_cell, const costmap_2d::Costmap2D &costmap)
	Used to update the distance of a cell in path distance computation. More...

	~MapGrid ()
	Destructor for a MapGrid. More...

Static Public Member Functions
static void	adjustPlanResolution (const std::vector< geometry_msgs::PoseStamped > &global_plan_in, std::vector< geometry_msgs::PoseStamped > &global_plan_out, double resolution)

Public Attributes
double	goal_x_

double	goal_y_
	The goal distance was last computed from. More...

unsigned int	size_x_

unsigned int	size_y_
	The dimensions of the grid. More...

Private Attributes
std::vector< MapCell >	map_
	Storage for the MapCells. More...

Detailed Description

A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller.

Definition at line 84 of file map_grid.h.

Constructor & Destructor Documentation

◆ MapGrid() [1/3]

base_local_planner::MapGrid::MapGrid ( )

Creates a 0x0 map by default.

Definition at line 40 of file map_grid.cpp.

◆ MapGrid() [2/3]

base_local_planner::MapGrid::MapGrid	(	unsigned int	size_x,
		unsigned int	size_y
	)

Creates a map of size_x by size_y.

Parameters

size_x	The width of the map
size_y	The height of the map

Definition at line 45 of file map_grid.cpp.

◆ ~MapGrid()

base_local_planner::MapGrid::~MapGrid ( )

inline

Destructor for a MapGrid.

Definition at line 126 of file map_grid.h.

◆ MapGrid() [3/3]

base_local_planner::MapGrid::MapGrid ( const MapGrid & mg )

Copy constructor for a MapGrid.

Parameters

mg	The MapGrid to copy

Definition at line 51 of file map_grid.cpp.

Member Function Documentation

◆ adjustPlanResolution()

void base_local_planner::MapGrid::adjustPlanResolution	(	const std::vector< geometry_msgs::PoseStamped > &	global_plan_in,
		std::vector< geometry_msgs::PoseStamped > &	global_plan_out,
		double	resolution
	)

static

increase global plan resolution to match that of the costmap by adding points linearly between global plan points This is necessary where global planners produce plans with few points.

Parameters

global_plan_in	input
global_plan_output	output
resolution	desired distance between waypoints

Definition at line 133 of file map_grid.cpp.

◆ commonInit()

void base_local_planner::MapGrid::commonInit ( )

Utility to share initialization code across constructors.

Definition at line 57 of file map_grid.cpp.

◆ computeGoalDistance()

void base_local_planner::MapGrid::computeGoalDistance	(	std::queue< MapCell * > &	dist_queue,
		const costmap_2d::Costmap2D &	costmap
	)

Compute the distance from each cell in the local map grid to the local goal point.

Parameters

goal_queue A queue containing the local goal cell

◆ computeTargetDistance()

void base_local_planner::MapGrid::computeTargetDistance	(	std::queue< MapCell * > &	dist_queue,
		const costmap_2d::Costmap2D &	costmap
	)

Compute the distance from each cell in the local map grid to the planned path.

Parameters

dist_queue A queue of the initial cells on the path

Definition at line 255 of file map_grid.cpp.

◆ getCell()

MapCell& base_local_planner::MapGrid::getCell	(	unsigned int	x,
		unsigned int	y
	)

inline

Definition at line 119 of file map_grid.h.

◆ getIndex()

size_t base_local_planner::MapGrid::getIndex	(	int	x,
		int	y
	)

Returns a 1D index into the MapCell array for a 2D index.

Parameters

x	The desired x coordinate
y	The desired y coordinate

Returns: The associated 1D index

Definition at line 73 of file map_grid.cpp.

◆ obstacleCosts()

double base_local_planner::MapGrid::obstacleCosts ( )

inline

return a value that indicates cell is in obstacle

Definition at line 168 of file map_grid.h.

◆ operator()() [1/2]

MapCell& base_local_planner::MapGrid::operator()	(	unsigned int	x,
		unsigned int	y
	)

inline

Returns a map cell accessed by (col, row)

Parameters

x	The x coordinate of the cell
y	The y coordinate of the cell

Returns: A reference to the desired cell

Definition at line 105 of file map_grid.h.

◆ operator()() [2/2]

MapCell base_local_planner::MapGrid::operator()	(	unsigned int	x,
		unsigned int	y
	)		const

inline

Returns a map cell accessed by (col, row)

Parameters

x	The x coordinate of the cell
y	The y coordinate of the cell

Returns: A copy of the desired cell

Definition at line 115 of file map_grid.h.

◆ operator=()

MapGrid & base_local_planner::MapGrid::operator= ( const MapGrid & mg )

Assignment operator for a MapGrid.

Parameters

mg	The MapGrid to assign from

Definition at line 77 of file map_grid.cpp.

◆ resetPathDist()

void base_local_planner::MapGrid::resetPathDist ( )

reset path distance fields for all cells

Definition at line 125 of file map_grid.cpp.

◆ setLocalGoal()

void base_local_planner::MapGrid::setLocalGoal	(	const costmap_2d::Costmap2D &	costmap,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan
	)

Update what cell is considered the next local goal.

Definition at line 210 of file map_grid.cpp.

◆ setTargetCells()

void base_local_planner::MapGrid::setTargetCells	(	const costmap_2d::Costmap2D &	costmap,
		const std::vector< geometry_msgs::PoseStamped > &	global_plan
	)

Update what cells are considered path based on the global plan.

Definition at line 171 of file map_grid.cpp.

◆ sizeCheck()

void base_local_planner::MapGrid::sizeCheck	(	unsigned int	size_x,
		unsigned int	size_y
	)

check if we need to resize

Parameters

size_x	The desired width
size_y	The desired height

Definition at line 84 of file map_grid.cpp.

◆ unreachableCellCosts()

double base_local_planner::MapGrid::unreachableCellCosts ( )

inline

returns a value indicating cell was not reached by wavefront propagation of set cells. (is behind walls, regarding the region covered by grid)

Definition at line 176 of file map_grid.h.

◆ updatePathCell()

bool base_local_planner::MapGrid::updatePathCell	(	MapCell *	current_cell,
		MapCell *	check_cell,
		const costmap_2d::Costmap2D &	costmap
	)

inline

Used to update the distance of a cell in path distance computation.

Parameters

current_cell	The cell we're currently in
check_cell	The cell to be updated

Definition at line 103 of file map_grid.cpp.

Member Data Documentation

◆ goal_x_

double base_local_planner::MapGrid::goal_x_

Definition at line 221 of file map_grid.h.

◆ goal_y_

double base_local_planner::MapGrid::goal_y_

The goal distance was last computed from.

Definition at line 221 of file map_grid.h.

◆ map_

std::vector<MapCell> base_local_planner::MapGrid::map_

private

Storage for the MapCells.

Definition at line 227 of file map_grid.h.

◆ size_x_

unsigned int base_local_planner::MapGrid::size_x_

Definition at line 223 of file map_grid.h.

◆ size_y_

unsigned int base_local_planner::MapGrid::size_y_

The dimensions of the grid.

Definition at line 223 of file map_grid.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MapGrid() [1/3]

◆ MapGrid() [2/3]

◆ ~MapGrid()

◆ MapGrid() [3/3]

Member Function Documentation

◆ adjustPlanResolution()

◆ commonInit()

◆ computeGoalDistance()

◆ computeTargetDistance()

◆ getCell()

◆ getIndex()

◆ obstacleCosts()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator=()

◆ resetPathDist()

◆ setLocalGoal()

◆ setTargetCells()

◆ sizeCheck()

◆ unreachableCellCosts()

◆ updatePathCell()

Member Data Documentation

◆ goal_x_

◆ goal_y_

◆ map_

◆ size_x_

◆ size_y_