#include <voxel_layer.h>

Inheritance diagram for rtabmap_costmap_plugins::VoxelLayer:

[legend]

Public Member Functions
bool	isDiscretized ()

virtual void	matchSize ()

virtual void	onInitialize ()

virtual void	reset ()

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

void	updateOrigin (double new_origin_x, double new_origin_y)

	VoxelLayer ()

virtual	~VoxelLayer ()

Public Member Functions inherited from costmap_2d::ObstacleLayer
virtual void	activate ()

void	addStaticObservation (costmap_2d::Observation &obs, bool marking, bool clearing)

void	clearStaticObservations (bool marking, bool clearing)

virtual void	deactivate ()

void	laserScanCallback (const sensor_msgs::LaserScanConstPtr &message, const boost::shared_ptr< costmap_2d::ObservationBuffer > &buffer)

void	laserScanValidInfCallback (const sensor_msgs::LaserScanConstPtr &message, const boost::shared_ptr< ObservationBuffer > &buffer)

	ObstacleLayer ()

void	pointCloud2Callback (const sensor_msgs::PointCloud2ConstPtr &message, const boost::shared_ptr< costmap_2d::ObservationBuffer > &buffer)

void	pointCloudCallback (const sensor_msgs::PointCloudConstPtr &message, const boost::shared_ptr< costmap_2d::ObservationBuffer > &buffer)

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

virtual	~ObstacleLayer ()

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)

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 ()

Protected Member Functions
virtual void	resetMaps ()

virtual void	setupDynamicReconfigure (ros::NodeHandle &nh)

Protected Member Functions inherited from costmap_2d::ObstacleLayer
bool	getClearingObservations (std::vector< costmap_2d::Observation > &clearing_observations) const

bool	getMarkingObservations (std::vector< costmap_2d::Observation > &marking_observations) const

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

void	updateRaytraceBounds (double ox, double oy, double wx, double wy, double range, double min_x, double min_y, double max_x, double max_y)

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)

Private Member Functions
void	clearNonLethal (double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info)

template<typename data_type >
void	copyMapRegion3D (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, int z_shift)
	Copy a region of a source map into a destination map. More...

double	dist (double x0, double y0, double z0, double x1, double y1, double z1)

void	mapToWorld3D (unsigned int mx, unsigned int my, unsigned int mz, double &wx, double &wy, double &wz)

virtual void	raytraceFreespace (const costmap_2d::Observation &clearing_observation, double min_x, double min_y, double max_x, double max_y)

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

bool	worldToMap3D (double wx, double wy, double wz, unsigned int &mx, unsigned int &my, unsigned int &mz)

bool	worldToMap3DFloat (double wx, double wy, double wz, double &mx, double &my, double &mz)

Private Attributes
sensor_msgs::PointCloud	clearing_endpoints_

ros::Publisher	clearing_endpoints_pub_

unsigned int	mark_threshold_

double	origin_z_

bool	publish_voxel_

std::string	robot_base_frame_

unsigned int	size_z_

unsigned int	unknown_threshold_

dynamic_reconfigure::Server< costmap_2d::VoxelPluginConfig > *	voxel_dsrv_

voxel_grid::VoxelGrid	voxel_grid_

ros::Publisher	voxel_pub_

double	z_resolution_

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

Protected Attributes inherited from costmap_2d::ObstacleLayer
std::vector< boost::shared_ptr< costmap_2d::ObservationBuffer > >	clearing_buffers_

int	combination_method_

dynamic_reconfigure::Server< costmap_2d::ObstaclePluginConfig > *	dsrv_

bool	footprint_clearing_enabled_

std::string	global_frame_

std::vector< boost::shared_ptr< costmap_2d::ObservationBuffer > >	marking_buffers_

double	max_obstacle_height_

std::vector< boost::shared_ptr< costmap_2d::ObservationBuffer > >	observation_buffers_

std::vector< boost::shared_ptr< tf2_ros::MessageFilterBase > >	observation_notifiers_

std::vector< boost::shared_ptr< message_filters::SubscriberBase > >	observation_subscribers_

laser_geometry::LaserProjection	projector_

bool	rolling_window_

std::vector< costmap_2d::Observation >	static_clearing_observations_

std::vector< costmap_2d::Observation >	static_marking_observations_

std::vector< geometry_msgs::Point >	transformed_footprint_

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 96 of file voxel_layer.h.

Constructor & Destructor Documentation

◆ VoxelLayer()

rtabmap_costmap_plugins::VoxelLayer::VoxelLayer ( )

inline

Definition at line 135 of file voxel_layer.h.

◆ ~VoxelLayer()

rtabmap_costmap_plugins::VoxelLayer::~VoxelLayer ( )

virtual

Definition at line 84 of file voxel_layer.cpp.

Member Function Documentation

◆ clearNonLethal()

void rtabmap_costmap_plugins::VoxelLayer::clearNonLethal	(	double	wx,
		double	wy,
		double	w_size_x,
		double	w_size_y,
		bool	clear_no_info
	)

private

Definition at line 217 of file voxel_layer.cpp.

◆ copyMapRegion3D()

template<typename data_type >

void rtabmap_costmap_plugins::VoxelLayer::copyMapRegion3D	(	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,
		int	z_shift
	)

inlineprivate

Copy a region of a source map into a destination map.

Parameters

source_map	The source map
sm_lower_left_x	The lower left x point of the source map to start the copy
sm_lower_left_y	The lower left y point of the source map to start the copy
sm_size_x	The x size of the source map
dest_map	The destination map
dm_lower_left_x	The lower left x point of the destination map to start the copy
dm_lower_left_y	The lower left y point of the destination map to start the copy
dm_size_x	The x size of the destination map
region_size_x	The x size of the region to copy
region_size_y	The y size of the region to copy

Definition at line 234 of file voxel_layer.h.

◆ dist()

double rtabmap_costmap_plugins::VoxelLayer::dist	(	double	x0,
		double	y0,
		double	z0,
		double	x1,
		double	y1,
		double	z1
	)

inlineprivate

Definition at line 214 of file voxel_layer.h.

◆ isDiscretized()

bool rtabmap_costmap_plugins::VoxelLayer::isDiscretized ( )

inline

Definition at line 148 of file voxel_layer.h.

◆ mapToWorld3D()

void rtabmap_costmap_plugins::VoxelLayer::mapToWorld3D	(	unsigned int	mx,
		unsigned int	my,
		unsigned int	mz,
		double &	wx,
		double &	wy,
		double &	wz
	)

inlineprivate

Definition at line 206 of file voxel_layer.h.

◆ matchSize()

void rtabmap_costmap_plugins::VoxelLayer::matchSize ( )

virtual

Reimplemented from costmap_2d::CostmapLayer.

Definition at line 104 of file voxel_layer.cpp.

◆ onInitialize()

void rtabmap_costmap_plugins::VoxelLayer::onInitialize ( )

virtual

Reimplemented from costmap_2d::ObstacleLayer.

Definition at line 58 of file voxel_layer.cpp.

◆ raytraceFreespace()

void rtabmap_costmap_plugins::VoxelLayer::raytraceFreespace	(	const costmap_2d::Observation &	clearing_observation,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

privatevirtual

Reimplemented from costmap_2d::ObstacleLayer.

Definition at line 268 of file voxel_layer.cpp.

◆ reconfigureCB()

void rtabmap_costmap_plugins::VoxelLayer::reconfigureCB	(	costmap_2d::VoxelPluginConfig &	config,
		uint32_t	level
	)

private

Definition at line 90 of file voxel_layer.cpp.

◆ reset()

void rtabmap_costmap_plugins::VoxelLayer::reset ( )

virtual

Reimplemented from costmap_2d::ObstacleLayer.

Definition at line 111 of file voxel_layer.cpp.

◆ resetMaps()

void rtabmap_costmap_plugins::VoxelLayer::resetMaps ( )

protectedvirtual

Reimplemented from costmap_2d::Costmap2D.

Definition at line 119 of file voxel_layer.cpp.

◆ setupDynamicReconfigure()

void rtabmap_costmap_plugins::VoxelLayer::setupDynamicReconfigure ( ros::NodeHandle & nh )

protectedvirtual

Reimplemented from costmap_2d::ObstacleLayer.

Definition at line 76 of file voxel_layer.cpp.

◆ updateBounds()

void rtabmap_costmap_plugins::VoxelLayer::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::ObstacleLayer.

Definition at line 125 of file voxel_layer.cpp.

◆ updateOrigin()

void rtabmap_costmap_plugins::VoxelLayer::updateOrigin	(	double	new_origin_x,
		double	new_origin_y
	)

virtual

Reimplemented from costmap_2d::Costmap2D.

Definition at line 401 of file voxel_layer.cpp.

◆ worldToMap3D()

bool rtabmap_costmap_plugins::VoxelLayer::worldToMap3D	(	double	wx,
		double	wy,
		double	wz,
		unsigned int &	mx,
		unsigned int &	my,
		unsigned int &	mz
	)

inlineprivate

Definition at line 191 of file voxel_layer.h.

◆ worldToMap3DFloat()

bool rtabmap_costmap_plugins::VoxelLayer::worldToMap3DFloat	(	double	wx,
		double	wy,
		double	wz,
		double &	mx,
		double &	my,
		double &	mz
	)

inlineprivate

Definition at line 178 of file voxel_layer.h.

Member Data Documentation

◆ clearing_endpoints_

sensor_msgs::PointCloud rtabmap_costmap_plugins::VoxelLayer::clearing_endpoints_

private

Definition at line 176 of file voxel_layer.h.

◆ clearing_endpoints_pub_

ros::Publisher rtabmap_costmap_plugins::VoxelLayer::clearing_endpoints_pub_

private

Definition at line 175 of file voxel_layer.h.

◆ mark_threshold_

unsigned int rtabmap_costmap_plugins::VoxelLayer::mark_threshold_

private

Definition at line 174 of file voxel_layer.h.

◆ origin_z_

double rtabmap_costmap_plugins::VoxelLayer::origin_z_

private

Definition at line 173 of file voxel_layer.h.

◆ publish_voxel_

bool rtabmap_costmap_plugins::VoxelLayer::publish_voxel_

private

Definition at line 169 of file voxel_layer.h.

◆ robot_base_frame_

std::string rtabmap_costmap_plugins::VoxelLayer::robot_base_frame_

private

Definition at line 170 of file voxel_layer.h.

◆ size_z_

unsigned int rtabmap_costmap_plugins::VoxelLayer::size_z_

private

Definition at line 174 of file voxel_layer.h.

◆ unknown_threshold_

unsigned int rtabmap_costmap_plugins::VoxelLayer::unknown_threshold_

private

Definition at line 174 of file voxel_layer.h.

◆ voxel_dsrv_

dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>* rtabmap_costmap_plugins::VoxelLayer::voxel_dsrv_

private

Definition at line 167 of file voxel_layer.h.

◆ voxel_grid_

voxel_grid::VoxelGrid rtabmap_costmap_plugins::VoxelLayer::voxel_grid_

private

Definition at line 172 of file voxel_layer.h.

◆ voxel_pub_

ros::Publisher rtabmap_costmap_plugins::VoxelLayer::voxel_pub_

private

Definition at line 171 of file voxel_layer.h.

◆ z_resolution_

double rtabmap_costmap_plugins::VoxelLayer::z_resolution_

private

Definition at line 173 of file voxel_layer.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VoxelLayer()

◆ ~VoxelLayer()

Member Function Documentation

◆ clearNonLethal()

◆ copyMapRegion3D()

◆ dist()

◆ isDiscretized()

◆ mapToWorld3D()

◆ matchSize()

◆ onInitialize()

◆ raytraceFreespace()

◆ reconfigureCB()

◆ reset()

◆ resetMaps()

◆ setupDynamicReconfigure()

◆ updateBounds()

◆ updateOrigin()

◆ worldToMap3D()

◆ worldToMap3DFloat()

Member Data Documentation

◆ clearing_endpoints_

◆ clearing_endpoints_pub_

◆ mark_threshold_

◆ origin_z_

◆ publish_voxel_

◆ robot_base_frame_

◆ size_z_

◆ unknown_threshold_

◆ voxel_dsrv_

◆ voxel_grid_

◆ voxel_pub_

◆ z_resolution_