map_grid_visualizer.cpp
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00034 #include <base_local_planner/map_grid_visualizer.h>
00035 #include <base_local_planner/map_cell.h>
00036 #include <vector>
00037 
00038 namespace base_local_planner {
00039   MapGridVisualizer::MapGridVisualizer() {}
00040 
00041 
00042   void MapGridVisualizer::initialize(const std::string& name, boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function) {
00043     name_ = name;
00044     cost_function_ = cost_function;
00045 
00046     ns_nh_ = ros::NodeHandle("~/" + name_);
00047     ns_nh_.param("global_frame_id", frame_id_, std::string("odom"));
00048 
00049     cost_cloud_.header.frame_id = frame_id_;
00050     pub_.advertise(ns_nh_, "cost_cloud", 1);
00051   }
00052 
00053   void MapGridVisualizer::publishCostCloud(const costmap_2d::Costmap2D& costmap_p_) {
00054     unsigned int x_size = costmap_p_.getSizeInCellsX();
00055     unsigned int y_size = costmap_p_.getSizeInCellsY();
00056     double z_coord = 0.0;
00057     double x_coord, y_coord;
00058     MapGridCostPoint pt;
00059     cost_cloud_.points.clear();
00060     cost_cloud_.header.stamp = ros::Time::now();
00061     float path_cost, goal_cost, occ_cost, total_cost;
00062     for (unsigned int cx = 0; cx < x_size; cx++) {
00063       for (unsigned int cy = 0; cy < y_size; cy++) {
00064         costmap_p_.mapToWorld(cx, cy, x_coord, y_coord);
00065         if (cost_function_(cx, cy, path_cost, goal_cost, occ_cost, total_cost)) {
00066           pt.x = x_coord;
00067           pt.y = y_coord;
00068           pt.z = z_coord;
00069           pt.path_cost = path_cost;
00070           pt.goal_cost = goal_cost;
00071           pt.occ_cost = occ_cost;
00072           pt.total_cost = total_cost;
00073           cost_cloud_.push_back(pt);
00074         }
00075       }
00076     }
00077     pub_.publish(cost_cloud_);
00078     ROS_DEBUG("Cost PointCloud published");
00079   }
00080 };


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko
autogenerated on Mon Oct 6 2014 02:45:34