Classes
struct	Cell

class	CostmapControllerExecution
	The CostmapControllerExecution binds a local costmap to the AbstractControllerExecution and uses the nav_core/BaseLocalPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...

class	CostmapNavigationServer
	The CostmapNavigationServer makes Move Base Flex backwards compatible to the old move_base. It combines the execution classes which use the nav_core/BaseLocalPlanner, nav_core/BaseCostmapPlanner and the nav_core/RecoveryBehavior base classes as plugin interfaces. These plugin interface are the same for the old move_base. More...

class	CostmapPlannerExecution
	The CostmapPlannerExecution binds a global costmap to the AbstractPlannerExecution and uses the nav_core/BaseCostmapPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...

class	CostmapRecoveryExecution
	The CostmapRecoveryExecution binds a local and a global costmap to the AbstractRecoveryExecution and uses the nav_core/CostmapRecovery class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...

class	CostmapWrapper
	The CostmapWrapper class manages access to a costmap by locking/unlocking its mutex and handles (de)activation. More...

class	FootprintHelper

Typedefs
typedef boost::shared_ptr< dynamic_reconfigure::Server< mbf_costmap_nav::MoveBaseFlexConfig > >	DynamicReconfigureServerCostmapNav

typedef boost::unordered_map< std::string, CostmapWrapper::Ptr >	StringToMap
	A mapping from a string to a map-ptr. More...

Functions
static const std::vector< Cell > &	clearAndReturn (std::vector< Cell > &_cells)
	Helper function which clears and returns the input. More...

template<typename Key , typename Value >
const Value &	findWithDefault (const boost::unordered_map< Key, Value > &map, const Key &key, const Value &default_value)

static std::string	getStringElement (const XmlRpc::XmlRpcValue &value, const std::string &tag)
	Returns a string element with the tag from value. More...

StringToMap	loadStringToMaps (const std::string &resource, const ros::NodeHandle &nh, const CostmapWrapper::Ptr &global_costmap_ptr, const CostmapWrapper::Ptr &local_costmap_ptr)
	Non-throwing version of loadStringToMapsImpl. More...

StringToMap	loadStringToMapsImpl (const std::string &resource, const ros::NodeHandle &nh, const CostmapWrapper::Ptr &global_costmap_ptr, const CostmapWrapper::Ptr &local_costmap_ptr)
	Returns the mapping from 'names' to 'costmaps' for the defined resource. More...

Typedef Documentation

◆ DynamicReconfigureServerCostmapNav

typedef boost::shared_ptr<dynamic_reconfigure::Server<mbf_costmap_nav::MoveBaseFlexConfig> > mbf_costmap_nav::DynamicReconfigureServerCostmapNav

Definition at line 75 of file costmap_navigation_server.h.

◆ StringToMap

typedef boost::unordered_map<std::string, CostmapWrapper::Ptr> mbf_costmap_nav::StringToMap

A mapping from a string to a map-ptr.

Definition at line 78 of file costmap_navigation_server.h.

Function Documentation

◆ clearAndReturn()

static const std::vector<Cell>& mbf_costmap_nav::clearAndReturn ( std::vector< Cell > & _cells )

static

Helper function which clears and returns the input.

Definition at line 207 of file footprint_helper.cpp.

◆ findWithDefault()

template<typename Key , typename Value >

const Value& mbf_costmap_nav::findWithDefault	(	const boost::unordered_map< Key, Value > &	map,
		const Key &	key,
		const Value &	default_value
	)

Definition at line 208 of file costmap_navigation_server.cpp.

◆ getStringElement()

static std::string mbf_costmap_nav::getStringElement	(	const XmlRpc::XmlRpcValue &	value,
		const std::string &	tag
	)

static

Returns a string element with the tag from value.

Exceptions

XmlRpc::XmlRpcException if the tag is missing.

Definition at line 59 of file costmap_navigation_server.cpp.

◆ loadStringToMaps()

StringToMap mbf_costmap_nav::loadStringToMaps	(	const std::string &	resource,
		const ros::NodeHandle &	nh,
		const CostmapWrapper::Ptr &	global_costmap_ptr,
		const CostmapWrapper::Ptr &	local_costmap_ptr
	)

Non-throwing version of loadStringToMapsImpl.

Parameters

resource	The name of the resource (e.g 'planners').
nh	The private node handle containing the given resource.
global_costmap_ptr	Ptr to the global costmap.
local_costmap_ptr	Ptr to the local costmap.

Definition at line 137 of file costmap_navigation_server.cpp.

◆ loadStringToMapsImpl()

StringToMap mbf_costmap_nav::loadStringToMapsImpl	(	const std::string &	resource,
		const ros::NodeHandle &	nh,
		const CostmapWrapper::Ptr &	global_costmap_ptr,
		const CostmapWrapper::Ptr &	local_costmap_ptr
	)

Returns the mapping from 'names' to 'costmaps' for the defined resource.