costmap_cspace::Costmap3dLayerFootprint Class Reference

#include <footprint.h>

Inheritance diagram for costmap_cspace::Costmap3dLayerFootprint:

Classes
struct	Rect

Public Types
using	Ptr = std::shared_ptr< Costmap3dLayerFootprint >
Public Types inherited from costmap_cspace::Costmap3dLayerBase
using	Ptr = std::shared_ptr< Costmap3dLayerBase >

Public Member Functions
	Costmap3dLayerFootprint ()
Polygon &	getFootprint ()
const geometry_msgs::PolygonStamped &	getFootprintMsg () const
float	getFootprintRadius () const
int	getRangeMax () const
const CSpace3Cache &	getTemplate () const
void	loadConfig (XmlRpc::XmlRpcValue config)
void	setExpansion (const float linear_expand, const float linear_spread, const int linear_spread_min_cost=0)
void	setFootprint (const Polygon footprint)
void	setKeepUnknown (const bool keep_unknown)
void	setMapMetaData (const costmap_cspace_msgs::MapMetaData3D &info)
Public Member Functions inherited from costmap_cspace::Costmap3dLayerBase
	Costmap3dLayerBase ()
int	getAngularGrid () const
CSpace3DMsg::Ptr	getMap ()
CSpace3DMsg::Ptr	getMapOverlay ()
void	processMapOverlay (const nav_msgs::OccupancyGrid::ConstPtr &msg, const bool update_chain_entry)
void	setAngleResolution (const int ang_resolution)
void	setBaseMap (const nav_msgs::OccupancyGrid::ConstPtr &base_map)
void	setChild (Costmap3dLayerBase::Ptr child)
void	setMap (CSpace3DMsg::Ptr map)
void	setOverlayMode (const MapOverlayMode overlay_mode)

Protected Member Functions
void	clearTravelableArea (CSpace3DMsg::Ptr map, const nav_msgs::OccupancyGrid::ConstPtr &msg)
virtual void	generateCSpace (CSpace3DMsg::Ptr map, const nav_msgs::OccupancyGrid::ConstPtr &msg, const UpdatedRegion &region)
void	generateSpecifiedCSpace (CSpace3DMsg::Ptr map, const nav_msgs::OccupancyGrid::ConstPtr &msg, const size_t yaw)
bool	updateChain (const bool output)
void	updateCSpace (const nav_msgs::OccupancyGrid::ConstPtr &map, const UpdatedRegion &region)
Protected Member Functions inherited from costmap_cspace::Costmap3dLayerBase
void	setBaseMapChain ()
bool	updateChainEntry (const UpdatedRegion &region, bool output=true)

Protected Attributes
CSpace3Cache	cs_template_
geometry_msgs::PolygonStamped	footprint_
Polygon	footprint_p_
float	footprint_radius_
bool	keep_unknown_
float	linear_expand_
float	linear_spread_
int	linear_spread_min_cost_
int	range_max_
std::vector< bool >	unknown_buf_
Protected Attributes inherited from costmap_cspace::Costmap3dLayerBase
int	ang_grid_
Costmap3dLayerBase::Ptr	child_
CSpace3DMsg::Ptr	map_
CSpace3DMsg::Ptr	map_overlay_
nav_msgs::OccupancyGrid::ConstPtr	map_updated_
MapOverlayMode	overlay_mode_
UpdatedRegion	region_
UpdatedRegion	region_prev_
bool	root_

Detailed Description

Definition at line 53 of file footprint.h.

Member Typedef Documentation

Ptr

using costmap_cspace::Costmap3dLayerFootprint::Ptr = std::shared_ptr<Costmap3dLayerFootprint>

Definition at line 56 of file footprint.h.

Constructor & Destructor Documentation

Costmap3dLayerFootprint()

costmap_cspace::Costmap3dLayerFootprint::Costmap3dLayerFootprint ( )

inline

Definition at line 76 of file footprint.h.

Member Function Documentation

clearTravelableArea()

void costmap_cspace::Costmap3dLayerFootprint::clearTravelableArea ( CSpace3DMsg::Ptr  map, const nav_msgs::OccupancyGrid::ConstPtr &  msg  )

inlineprotected

Definition at line 224 of file footprint.h.

generateCSpace()

virtual void costmap_cspace::Costmap3dLayerFootprint::generateCSpace ( CSpace3DMsg::Ptr  map, const nav_msgs::OccupancyGrid::ConstPtr &  msg, const UpdatedRegion &  region  )

inlineprotectedvirtual

Definition at line 210 of file footprint.h.

generateSpecifiedCSpace()

void costmap_cspace::Costmap3dLayerFootprint::generateSpecifiedCSpace ( CSpace3DMsg::Ptr  map, const nav_msgs::OccupancyGrid::ConstPtr &  msg, const size_t  yaw  )

inlineprotected

Definition at line 274 of file footprint.h.

getFootprint()

Polygon& costmap_cspace::Costmap3dLayerFootprint::getFootprint ( )

inline

Definition at line 122 of file footprint.h.

getFootprintMsg()

const geometry_msgs::PolygonStamped& costmap_cspace::Costmap3dLayerFootprint::getFootprintMsg ( ) const

inline

Definition at line 126 of file footprint.h.

getFootprintRadius()

float costmap_cspace::Costmap3dLayerFootprint::getFootprintRadius ( ) const

inline

Definition at line 130 of file footprint.h.

getRangeMax()

int costmap_cspace::Costmap3dLayerFootprint::getRangeMax ( ) const

inlinevirtual

Implements costmap_cspace::Costmap3dLayerBase.

Definition at line 134 of file footprint.h.

getTemplate()

const CSpace3Cache& costmap_cspace::Costmap3dLayerFootprint::getTemplate ( ) const

inline

Definition at line 138 of file footprint.h.

loadConfig()

void costmap_cspace::Costmap3dLayerFootprint::loadConfig ( XmlRpc::XmlRpcValue  config )

inlinevirtual

Implements costmap_cspace::Costmap3dLayerBase.

Reimplemented in costmap_cspace::Costmap3dLayerPlain.

Definition at line 84 of file footprint.h.

setExpansion()

void costmap_cspace::Costmap3dLayerFootprint::setExpansion ( const float  linear_expand, const float  linear_spread, const int  linear_spread_min_cost = 0  )

inline

Definition at line 100 of file footprint.h.

setFootprint()

void costmap_cspace::Costmap3dLayerFootprint::setFootprint ( const Polygon  footprint )

inline

Definition at line 116 of file footprint.h.

setKeepUnknown()

void costmap_cspace::Costmap3dLayerFootprint::setKeepUnknown ( const bool  keep_unknown )

inline

Definition at line 96 of file footprint.h.

setMapMetaData()

void costmap_cspace::Costmap3dLayerFootprint::setMapMetaData ( const costmap_cspace_msgs::MapMetaData3D &  info )

inlinevirtual

Implements costmap_cspace::Costmap3dLayerBase.

Definition at line 142 of file footprint.h.

updateChain()

bool costmap_cspace::Costmap3dLayerFootprint::updateChain ( const bool  output )

inlineprotectedvirtual

Implements costmap_cspace::Costmap3dLayerBase.

Definition at line 197 of file footprint.h.

updateCSpace()

void costmap_cspace::Costmap3dLayerFootprint::updateCSpace ( const nav_msgs::OccupancyGrid::ConstPtr &  map, const UpdatedRegion &  region  )

inlineprotectedvirtual

Implements costmap_cspace::Costmap3dLayerBase.

Definition at line 201 of file footprint.h.

Member Data Documentation

cs_template_

CSpace3Cache costmap_cspace::Costmap3dLayerFootprint::cs_template_

protected

Definition at line 67 of file footprint.h.

footprint_

geometry_msgs::PolygonStamped costmap_cspace::Costmap3dLayerFootprint::footprint_

protected

Definition at line 60 of file footprint.h.

footprint_p_

Polygon costmap_cspace::Costmap3dLayerFootprint::footprint_p_

protected

Definition at line 64 of file footprint.h.

footprint_radius_

float costmap_cspace::Costmap3dLayerFootprint::footprint_radius_

protected

Definition at line 59 of file footprint.h.

keep_unknown_

bool costmap_cspace::Costmap3dLayerFootprint::keep_unknown_

protected

Definition at line 65 of file footprint.h.

linear_expand_

float costmap_cspace::Costmap3dLayerFootprint::linear_expand_

protected

Definition at line 61 of file footprint.h.

linear_spread_

float costmap_cspace::Costmap3dLayerFootprint::linear_spread_

protected

Definition at line 62 of file footprint.h.

linear_spread_min_cost_

int costmap_cspace::Costmap3dLayerFootprint::linear_spread_min_cost_

protected

Definition at line 63 of file footprint.h.

range_max_

int costmap_cspace::Costmap3dLayerFootprint::range_max_

protected

Definition at line 72 of file footprint.h.

unknown_buf_

std::vector<bool> costmap_cspace::Costmap3dLayerFootprint::unknown_buf_

protected

Definition at line 73 of file footprint.h.

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

• footprint.h