#include <map_grid_visualizer.h>
Definition at line 74 of file map_grid_visualizer.h.
◆ MapGridVisualizer()
base_local_planner::MapGridVisualizer::MapGridVisualizer |
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◆ initialize()
void base_local_planner::MapGridVisualizer::initialize |
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const std::string & |
name, |
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std::string |
frame, |
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boost::function< bool(int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> |
cost_function |
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Initializes the MapGridVisualizer.
- Parameters
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name | The name to be appended to ~/ in order to get the proper namespace for parameters |
costmap | The costmap instance to use to get the size of the map to generate a point cloud for |
cost_function | The function to use to compute the cost values to be inserted into each point in the output PointCloud as well as whether to include a given point or not |
Definition at line 77 of file map_grid_visualizer.cpp.
◆ publishCostCloud()
Build and publish a PointCloud if the publish_cost_grid_pc parameter was true. Only include points for which the cost_function at (cx,cy) returns true.
Definition at line 86 of file map_grid_visualizer.cpp.
◆ cost_function_
boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> base_local_planner::MapGridVisualizer::cost_function_ |
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The function to be used to generate the cost components for the output PointCloud.
Definition at line 128 of file map_grid_visualizer.h.
◆ frame_id_
std::string base_local_planner::MapGridVisualizer::frame_id_ |
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◆ name_
std::string base_local_planner::MapGridVisualizer::name_ |
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◆ ns_nh_
◆ pub_
The documentation for this class was generated from the following files: