#include <costmap_layer.h>
Public Member Functions | |
void | addExtraBounds (double mx0, double my0, double mx1, double my1) |
CostmapLayer () | |
bool | isDiscretized () |
virtual void | matchSize () |
Implement this to make this layer match the size of the parent costmap. | |
Protected Member Functions | |
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 Attributes | |
bool | has_extra_bounds_ |
Private Attributes | |
double | extra_max_x_ |
double | extra_max_y_ |
double | extra_min_x_ |
double | extra_min_y_ |
Definition at line 47 of file costmap_layer.h.
costmap_2d::CostmapLayer::CostmapLayer | ( | ) | [inline] |
Definition at line 50 of file costmap_layer.h.
void costmap_2d::CostmapLayer::addExtraBounds | ( | double | mx0, |
double | my0, | ||
double | mx1, | ||
double | my1 | ||
) |
If an external source changes values in the costmap, it should call this method with the area that it changed to ensure that the costmap includes this region as well.
mx0 | Minimum x value of the bounding box |
my0 | Minimum y value of the bounding box |
mx1 | Maximum x value of the bounding box |
my1 | Maximum y value of the bounding box |
Definition at line 21 of file costmap_layer.cpp.
bool costmap_2d::CostmapLayer::isDiscretized | ( | ) | [inline] |
Reimplemented in costmap_2d::VoxelLayer.
Definition at line 54 of file costmap_layer.h.
void costmap_2d::CostmapLayer::matchSize | ( | ) | [virtual] |
Implement this to make this layer match the size of the parent costmap.
Reimplemented from costmap_2d::Layer.
Reimplemented in costmap_2d::VoxelLayer, and costmap_2d::StaticLayer.
Definition at line 14 of file costmap_layer.cpp.
void costmap_2d::CostmapLayer::touch | ( | double | x, |
double | y, | ||
double * | min_x, | ||
double * | min_y, | ||
double * | max_x, | ||
double * | max_y | ||
) | [protected] |
Updates the bounding box specified in the parameters to include the location (x,y)
x | x-coordinate to include |
y | y-coordinate to include |
min_x | bounding box |
min_y | bounding box |
max_x | bounding box |
max_y | bounding box |
Definition at line 6 of file costmap_layer.cpp.
void costmap_2d::CostmapLayer::updateWithAddition | ( | costmap_2d::Costmap2D & | master_grid, |
int | min_i, | ||
int | min_j, | ||
int | max_i, | ||
int | max_j | ||
) | [protected] |
Definition at line 110 of file costmap_layer.cpp.
void costmap_2d::CostmapLayer::updateWithMax | ( | costmap_2d::Costmap2D & | master_grid, |
int | min_i, | ||
int | min_j, | ||
int | max_i, | ||
int | max_j | ||
) | [protected] |
Definition at line 46 of file costmap_layer.cpp.
void costmap_2d::CostmapLayer::updateWithOverwrite | ( | costmap_2d::Costmap2D & | master_grid, |
int | min_i, | ||
int | min_j, | ||
int | max_i, | ||
int | max_j | ||
) | [protected] |
Definition at line 91 of file costmap_layer.cpp.
void costmap_2d::CostmapLayer::updateWithTrueOverwrite | ( | costmap_2d::Costmap2D & | master_grid, |
int | min_i, | ||
int | min_j, | ||
int | max_i, | ||
int | max_j | ||
) | [protected] |
Definition at line 72 of file costmap_layer.cpp.
void costmap_2d::CostmapLayer::useExtraBounds | ( | double * | min_x, |
double * | min_y, | ||
double * | max_x, | ||
double * | max_y | ||
) | [protected] |
Definition at line 30 of file costmap_layer.cpp.
double costmap_2d::CostmapLayer::extra_max_x_ [private] |
Definition at line 145 of file costmap_layer.h.
double costmap_2d::CostmapLayer::extra_max_y_ [private] |
Definition at line 145 of file costmap_layer.h.
double costmap_2d::CostmapLayer::extra_min_x_ [private] |
Definition at line 145 of file costmap_layer.h.
double costmap_2d::CostmapLayer::extra_min_y_ [private] |
Definition at line 145 of file costmap_layer.h.
bool costmap_2d::CostmapLayer::has_extra_bounds_ [protected] |
Definition at line 142 of file costmap_layer.h.