map_grid_visualizer.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2010, Eric Perko
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Eric Perko nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 #ifndef MAP_GRID_VISUALIZER_H_
00035 #define MAP_GRID_VISUALIZER_H_
00036 
00037 #include <ros/ros.h>
00038 #include <base_local_planner/map_grid.h>
00039 #include <costmap_2d/costmap_2d.h>
00040 #include <base_local_planner/map_grid_cost_point.h>
00041 #include <pcl_ros/publisher.h>
00042 
00043 namespace base_local_planner {
00044     class MapGridVisualizer {
00045         public:
00049             MapGridVisualizer();
00050 
00057             void initialize(const std::string& name, std::string frame, boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function);
00058 
00062             ~MapGridVisualizer() {if(cost_cloud_) delete cost_cloud_;}
00063 
00067             void publishCostCloud(const costmap_2d::Costmap2D* costmap_p_);
00068 
00069         private:
00070             std::string name_; 
00071             boost::function<bool (int cx, int cy, float &path_cost, float &goal_cost, float &occ_cost, float &total_cost)> cost_function_; 
00072             ros::NodeHandle ns_nh_;
00073             pcl::PointCloud<MapGridCostPoint>* cost_cloud_;
00074             pcl_ros::Publisher<MapGridCostPoint> pub_;
00075     };
00076 };
00077 
00078 #endif


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:30