costmap_wrapper.h
Go to the documentation of this file.
1 /*
2  * Copyright 2019, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
3  *
4  * Redistribution and use in source and binary forms, with or without
5  * modification, are permitted provided that the following conditions
6  * are met:
7  *
8  * 1. Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  *
11  * 2. Redistributions in binary form must reproduce the above
12  * copyright notice, this list of conditions and the following
13  * disclaimer in the documentation and/or other materials provided
14  * with the distribution.
15  *
16  * 3. Neither the name of the copyright holder nor the names of its
17  * contributors may be used to endorse or promote products derived
18  * from this software without specific prior written permission.
19  *
20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
21  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
22  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
23  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
24  * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
25  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
26  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
27  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
28  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
29  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
30  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
31  * POSSIBILITY OF SUCH DAMAGE.
32  *
33  * costmap_wrapper.h
34  *
35  * authors:
36  * Sebastian Pütz <spuetz@uni-osnabrueck.de>
37  * Jorge Santos Simón <santos@magazino.eu>
38  *
39  */
40 
41 #ifndef MBF_COSTMAP_NAV__COSTMAP_WRAPPER_H_
42 #define MBF_COSTMAP_NAV__COSTMAP_WRAPPER_H_
43 
45 
46 #include <mbf_utility/types.h>
47 
48 
49 namespace mbf_costmap_nav
50 {
64 {
65 public:
67 
72  CostmapWrapper(const std::string &name, const TFPtr &tf_listener_ptr);
73 
77  virtual ~CostmapWrapper();
78 
84  void reconfigure(double shutdown_costmap, double shutdown_costmap_delay);
85 
89  void clear();
90 
94  void checkActivate();
95 
99  void checkDeactivate();
100 
101 private:
105  void deactivate(const ros::TimerEvent &event);
106 
109 
110  boost::mutex check_costmap_mutex_;
113  int16_t costmap_users_;
116 };
117 
118 } /* namespace mbf_costmap_nav */
119 
120 #endif /* MBF_COSTMAP_NAV__COSTMAP_WRAPPER_H_ */
mbf_costmap_nav::CostmapWrapper::private_nh_
ros::NodeHandle private_nh_
Private node handle.
Definition: costmap_wrapper.h:108
mbf_costmap_nav::CostmapWrapper::shutdown_costmap_
bool shutdown_costmap_
don't update costmap when not using it
Definition: costmap_wrapper.h:111
boost::shared_ptr
mbf_costmap_nav::CostmapWrapper::clear_on_shutdown_
bool clear_on_shutdown_
clear the costmap, when shutting down
Definition: costmap_wrapper.h:112
mbf_costmap_nav::CostmapWrapper::reconfigure
void reconfigure(double shutdown_costmap, double shutdown_costmap_delay)
Reconfiguration method called by dynamic reconfigure.
Definition: costmap_wrapper.cpp:71
mbf_costmap_nav::CostmapWrapper::clear
void clear()
Clear costmap.
Definition: costmap_wrapper.cpp:89
mbf_costmap_nav::CostmapWrapper::shutdown_costmap_delay_
ros::Duration shutdown_costmap_delay_
costmap delayed shutdown delay
Definition: costmap_wrapper.h:115
costmap_2d_ros.h
mbf_costmap_nav::CostmapWrapper::checkActivate
void checkActivate()
Check whether the costmap should be activated.
Definition: costmap_wrapper.cpp:96
mbf_costmap_nav::CostmapWrapper::check_costmap_mutex_
boost::mutex check_costmap_mutex_
Start/stop costmap mutex; concurrent calls to start can lead to segfault.
Definition: costmap_wrapper.h:110
mbf_costmap_nav::CostmapWrapper::deactivate
void deactivate(const ros::TimerEvent &event)
Timer-triggered deactivation of the costmap.
Definition: costmap_wrapper.cpp:128
mbf_costmap_nav::CostmapWrapper::checkDeactivate
void checkDeactivate()
Check whether the costmap should and could be deactivated.
Definition: costmap_wrapper.cpp:112
mbf_costmap_nav
Definition: costmap_controller_execution.h:51
ros::TimerEvent
mbf_costmap_nav::CostmapWrapper::shutdown_costmap_timer_
ros::Timer shutdown_costmap_timer_
costmap delayed shutdown timer
Definition: costmap_wrapper.h:114
mbf_costmap_nav::CostmapWrapper::Ptr
boost::shared_ptr< CostmapWrapper > Ptr
Definition: costmap_wrapper.h:66
mbf_costmap_nav::CostmapWrapper::~CostmapWrapper
virtual ~CostmapWrapper()
Destructor.
Definition: costmap_wrapper.cpp:65
mbf_costmap_nav::CostmapWrapper
The CostmapWrapper class manages access to a costmap by locking/unlocking its mutex and handles (de)a...
Definition: costmap_wrapper.h:63
types.h
mbf_costmap_nav::CostmapWrapper::costmap_users_
int16_t costmap_users_
keep track of plugins using costmap
Definition: costmap_wrapper.h:113
ros::Duration
ros::Timer
costmap_2d::Costmap2DROS
mbf_costmap_nav::CostmapWrapper::CostmapWrapper
CostmapWrapper(const std::string &name, const TFPtr &tf_listener_ptr)
Constructor.
Definition: costmap_wrapper.cpp:48
ros::NodeHandle


mbf_costmap_nav
Author(s): Sebastian Pütz
autogenerated on Wed Mar 2 2022 00:33:55