#include <static_layer.h>

Inheritance diagram for rtabmap_costmap_plugins::StaticLayer:

[legend]

Public Member Functions
virtual void	activate ()

virtual void	deactivate ()

virtual void	matchSize ()

virtual void	onInitialize ()

virtual void	reset ()

	StaticLayer ()

virtual void	updateBounds (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)

virtual void	updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

virtual	~StaticLayer ()

Public Member Functions inherited from costmap_2d::CostmapLayer
void	addExtraBounds (double mx0, double my0, double mx1, double my1)

virtual void	clearArea (int start_x, int start_y, int end_x, int end_y, bool invert_area=false)

	CostmapLayer ()

bool	isDiscretized ()

Public Member Functions inherited from costmap_2d::Layer
const std::vector< geometry_msgs::Point > &	getFootprint () const

const std::string &	getName () const noexcept

void	initialize (LayeredCostmap parent, std::string name, tf2_ros::Buffer tf)

bool	isCurrent () const

bool	isEnabled () const noexcept

	Layer ()

virtual void	onFootprintChanged ()

virtual	~Layer ()

Public Member Functions inherited from costmap_2d::Costmap2D
unsigned int	cellDistance (double world_dist)

void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)

bool	copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y)

	Costmap2D ()

	Costmap2D (const Costmap2D &map)

	Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value=0)

unsigned char *	getCharMap () const

unsigned char	getCost (unsigned int mx, unsigned int my) const

unsigned char	getDefaultValue ()

unsigned int	getIndex (unsigned int mx, unsigned int my) const

mutex_t *	getMutex ()

double	getOriginX () const

double	getOriginY () const

double	getResolution () const

unsigned int	getSizeInCellsX () const

unsigned int	getSizeInCellsY () const

double	getSizeInMetersX () const

double	getSizeInMetersY () const

void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const

void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const

Costmap2D &	operator= (const Costmap2D &map)

void	polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)

void	resetMap (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn)

void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y)

bool	saveMap (std::string file_name)

bool	setConvexPolygonCost (const std::vector< geometry_msgs::Point > &polygon, unsigned char cost_value)

void	setCost (unsigned int mx, unsigned int my, unsigned char cost)

void	setDefaultValue (unsigned char c)

virtual void	updateOrigin (double new_origin_x, double new_origin_y)

bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const

void	worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const

void	worldToMapNoBounds (double wx, double wy, int &mx, int &my) const

virtual	~Costmap2D ()

Private Member Functions
void	incomingMap (const nav_msgs::OccupancyGridConstPtr &new_map)
	Callback to update the costmap's map from the map_server. More...

void	incomingUpdate (const map_msgs::OccupancyGridUpdateConstPtr &update)

unsigned char	interpretValue (unsigned char value)

void	reconfigureCB (costmap_2d::GenericPluginConfig &config, uint32_t level)

Private Attributes
dynamic_reconfigure::Server< costmap_2d::GenericPluginConfig > *	dsrv_

std::string	global_frame_
	The global frame for the costmap. More...

bool	has_updated_data_

unsigned int	height_

unsigned char	lethal_threshold_

boost::recursive_mutex	lock_

bool	map_received_

ros::Subscriber	map_sub_

ros::Subscriber	map_update_sub_

bool	subscribe_to_updates_

bool	track_unknown_space_

bool	trinary_costmap_

unsigned char	unknown_cost_value_

bool	use_maximum_

unsigned int	width_

unsigned int	x_

unsigned int	y_

Additional Inherited Members
Public Types inherited from costmap_2d::Costmap2D
typedef boost::recursive_mutex	mutex_t

Protected Member Functions inherited from costmap_2d::CostmapLayer
void	touch (double x, double y, double min_x, double min_y, double max_x, double max_y)

void	updateWithAddition (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithMax (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithOverwrite (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithTrueOverwrite (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	useExtraBounds (double min_x, double min_y, double max_x, double max_y)

Protected Member Functions inherited from costmap_2d::Costmap2D
void	copyMapRegion (data_type source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, unsigned int sm_size_x, data_type dest_map, unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int region_size_y)

virtual void	deleteMaps ()

virtual void	initMaps (unsigned int size_x, unsigned int size_y)

void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX)

virtual void	resetMaps ()

Protected Attributes inherited from costmap_2d::CostmapLayer
bool	has_extra_bounds_

Protected Attributes inherited from costmap_2d::Layer
bool	current_

bool	enabled_

LayeredCostmap *	layered_costmap_

std::string	name_

tf2_ros::Buffer *	tf_

Protected Attributes inherited from costmap_2d::Costmap2D
unsigned char *	costmap_

unsigned char	default_value_

double	origin_x_

double	origin_y_

double	resolution_

unsigned int	size_x_

unsigned int	size_y_

Detailed Description

Definition at line 89 of file static_layer.h.

Constructor & Destructor Documentation

◆ StaticLayer()

rtabmap_costmap_plugins::StaticLayer::StaticLayer ( )

Definition at line 56 of file static_layer.cpp.

◆ ~StaticLayer()

rtabmap_costmap_plugins::StaticLayer::~StaticLayer ( )

virtual

Definition at line 58 of file static_layer.cpp.

Member Function Documentation

◆ activate()

void rtabmap_costmap_plugins::StaticLayer::activate ( )

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 217 of file static_layer.cpp.

◆ deactivate()

void rtabmap_costmap_plugins::StaticLayer::deactivate ( )

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 222 of file static_layer.cpp.

◆ incomingMap()

void rtabmap_costmap_plugins::StaticLayer::incomingMap ( const nav_msgs::OccupancyGridConstPtr & new_map )

private

Callback to update the costmap's map from the map_server.

Parameters

new_map The map to put into the costmap. The origin of the new map along with its size will determine what parts of the costmap's static map are overwritten.

Definition at line 150 of file static_layer.cpp.

◆ incomingUpdate()

void rtabmap_costmap_plugins::StaticLayer::incomingUpdate ( const map_msgs::OccupancyGridUpdateConstPtr & update )

private

Definition at line 196 of file static_layer.cpp.

◆ interpretValue()

unsigned char rtabmap_costmap_plugins::StaticLayer::interpretValue ( unsigned char value )

private

Definition at line 136 of file static_layer.cpp.

◆ matchSize()

void rtabmap_costmap_plugins::StaticLayer::matchSize ( )

virtual

Reimplemented from costmap_2d::CostmapLayer.

Definition at line 129 of file static_layer.cpp.

◆ onInitialize()

void rtabmap_costmap_plugins::StaticLayer::onInitialize ( )

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 64 of file static_layer.cpp.

◆ reconfigureCB()

void rtabmap_costmap_plugins::StaticLayer::reconfigureCB	(	costmap_2d::GenericPluginConfig &	config,
		uint32_t	level
	)

private

Definition at line 117 of file static_layer.cpp.

◆ reset()

void rtabmap_costmap_plugins::StaticLayer::reset ( )

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 229 of file static_layer.cpp.

◆ updateBounds()

void rtabmap_costmap_plugins::StaticLayer::updateBounds	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 235 of file static_layer.cpp.

◆ updateCosts()

void rtabmap_costmap_plugins::StaticLayer::updateCosts	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 256 of file static_layer.cpp.

Member Data Documentation

◆ dsrv_

dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>* rtabmap_costmap_plugins::StaticLayer::dsrv_

private

Definition at line 167 of file static_layer.h.

◆ global_frame_

std::string rtabmap_costmap_plugins::StaticLayer::global_frame_

private

The global frame for the costmap.

Definition at line 154 of file static_layer.h.

◆ has_updated_data_

bool rtabmap_costmap_plugins::StaticLayer::has_updated_data_

private

Definition at line 157 of file static_layer.h.

◆ height_

unsigned int rtabmap_costmap_plugins::StaticLayer::height_

private

Definition at line 158 of file static_layer.h.

◆ lethal_threshold_

unsigned char rtabmap_costmap_plugins::StaticLayer::lethal_threshold_

private

Definition at line 164 of file static_layer.h.

◆ lock_

boost::recursive_mutex rtabmap_costmap_plugins::StaticLayer::lock_

mutableprivate

Definition at line 166 of file static_layer.h.

◆ map_received_

bool rtabmap_costmap_plugins::StaticLayer::map_received_

private

Definition at line 156 of file static_layer.h.

◆ map_sub_

ros::Subscriber rtabmap_costmap_plugins::StaticLayer::map_sub_

private

Definition at line 162 of file static_layer.h.

◆ map_update_sub_

ros::Subscriber rtabmap_costmap_plugins::StaticLayer::map_update_sub_

private

Definition at line 162 of file static_layer.h.

◆ subscribe_to_updates_

bool rtabmap_costmap_plugins::StaticLayer::subscribe_to_updates_

private

Definition at line 155 of file static_layer.h.

◆ track_unknown_space_

bool rtabmap_costmap_plugins::StaticLayer::track_unknown_space_

private

Definition at line 159 of file static_layer.h.

◆ trinary_costmap_

bool rtabmap_costmap_plugins::StaticLayer::trinary_costmap_

private

Definition at line 161 of file static_layer.h.

◆ unknown_cost_value_

unsigned char rtabmap_costmap_plugins::StaticLayer::unknown_cost_value_

private

Definition at line 164 of file static_layer.h.

◆ use_maximum_

bool rtabmap_costmap_plugins::StaticLayer::use_maximum_

private

Definition at line 160 of file static_layer.h.

◆ width_

unsigned int rtabmap_costmap_plugins::StaticLayer::width_

private

Definition at line 158 of file static_layer.h.

◆ x_

unsigned int rtabmap_costmap_plugins::StaticLayer::x_

private

Definition at line 158 of file static_layer.h.

◆ y_

unsigned int rtabmap_costmap_plugins::StaticLayer::y_

private

Definition at line 158 of file static_layer.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ StaticLayer()

◆ ~StaticLayer()

Member Function Documentation

◆ activate()

◆ deactivate()

◆ incomingMap()

◆ incomingUpdate()

◆ interpretValue()

◆ matchSize()

◆ onInitialize()

◆ reconfigureCB()

◆ reset()

◆ updateBounds()

◆ updateCosts()

Member Data Documentation

◆ dsrv_

◆ global_frame_

◆ has_updated_data_

◆ height_

◆ lethal_threshold_

◆ lock_

◆ map_received_

◆ map_sub_

◆ map_update_sub_

◆ subscribe_to_updates_

◆ track_unknown_space_

◆ trinary_costmap_

◆ unknown_cost_value_

◆ use_maximum_

◆ width_

◆ x_

◆ y_