costmap_2d Namespace Reference

Namespaces
namespace	msg
Classes
class	CellData
	Storage for cell information used during obstacle inflation. More...
class	Costmap2D
	A 2D costmap provides a mapping between points in the world and their associated "costs". More...
class	Costmap2DNode
class	Costmap2DPublisher
	A tool to periodically publish visualization data from a Costmap2D. More...
class	Costmap2DROS
	A ROS wrapper for a 2D Costmap. Handles subscribing to topics that provide observations about obstacles in either the form of PointCloud or LaserScan messages. More...
class	CostmapTester
struct	MapLocation
class	Observation
	Stores an observation in terms of a point cloud and the origin of the source. More...
class	ObservationBuffer
	Takes in point clouds from sensors, transforms them to the desired frame, and stores them. More...
class	VoxelCostmap2D
	A 2D costmap provides a mapping between points in the world and their associated "costs". More...
struct	VoxelGrid_
Typedefs
typedef ::costmap_2d::VoxelGrid_ < std::allocator< void > >	VoxelGrid
typedef boost::shared_ptr < ::costmap_2d::VoxelGrid const >	VoxelGridConstPtr
typedef boost::shared_ptr < ::costmap_2d::VoxelGrid >	VoxelGridPtr
Functions
bool	operator< (const CellData &a, const CellData &b)
	Provide an ordering between CellData objects in the priority queue.
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::costmap_2d::VoxelGrid_< ContainerAllocator > &v)
double	sign (double x)
Variables
static const unsigned char	FREE_SPACE = 0
static const unsigned char	INSCRIBED_INFLATED_OBSTACLE = 253
static const unsigned char	LETHAL_OBSTACLE = 254
static const unsigned char	NO_INFORMATION = 255

---

Detailed Description

Provides a mapping for often used cost values

---

Typedef Documentation

typedef ::costmap_2d::VoxelGrid_<std::allocator<void> > costmap_2d::VoxelGrid

Definition at line 75 of file VoxelGrid.h.

typedef boost::shared_ptr< ::costmap_2d::VoxelGrid const> costmap_2d::VoxelGridConstPtr

Definition at line 78 of file VoxelGrid.h.

typedef boost::shared_ptr< ::costmap_2d::VoxelGrid> costmap_2d::VoxelGridPtr

Definition at line 77 of file VoxelGrid.h.

---

Function Documentation

bool costmap_2d::operator<	(	const CellData &	a,
		const CellData &	b
	)		[inline]

Provide an ordering between CellData objects in the priority queue.

Returns:

We want the lowest distance to have the highest priority... so this returns true if a has higher priority than b

Definition at line 68 of file cell_data.h.

template<typename ContainerAllocator >

std::ostream& costmap_2d::operator<<	(	std::ostream &	s,
		const ::costmap_2d::VoxelGrid_< ContainerAllocator > &	v
	)

Definition at line 82 of file VoxelGrid.h.

double costmap_2d::sign

(

double

x

)

Definition at line 58 of file costmap_2d_ros.cpp.

---

Variable Documentation

const unsigned char costmap_2d::FREE_SPACE = 0 [static]

Definition at line 44 of file cost_values.h.

const unsigned char costmap_2d::INSCRIBED_INFLATED_OBSTACLE = 253 [static]

Definition at line 43 of file cost_values.h.

const unsigned char costmap_2d::LETHAL_OBSTACLE = 254 [static]

Definition at line 42 of file cost_values.h.

const unsigned char costmap_2d::NO_INFORMATION = 255 [static]

Definition at line 41 of file cost_values.h.