#include <inflation_layer.h>

Inheritance diagram for costmap_2d::InflationLayer:

Public Member Functions
unsigned char	computeCost (double distance) const
	Given a distance, compute a cost.
	InflationLayer ()
virtual bool	isDiscretized ()
virtual void	matchSize ()
	Implement this to make this layer match the size of the parent costmap.
virtual void	onInitialize ()
	This is called at the end of initialize(). Override to implement subclass-specific initialization.
virtual void	reset ()
void	setInflationParameters (double inflation_radius, double cost_scaling_factor)
	Change the values of the inflation radius parameters.
virtual void	updateBounds (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)
	This is called by the LayeredCostmap to poll this plugin as to how much of the costmap it needs to update. Each layer can increase the size of this bounds.
virtual void	updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
	Actually update the underlying costmap, only within the bounds calculated during UpdateBounds().
virtual	~InflationLayer ()
Protected Member Functions
virtual void	onFootprintChanged ()
	LayeredCostmap calls this whenever the footprint there changes (via LayeredCostmap::setFootprint()). Override to be notified of changes to the robot's footprint.
Protected Attributes
boost::recursive_mutex *	inflation_access_
Private Member Functions
unsigned int	cellDistance (double world_dist)
void	computeCaches ()
unsigned char	costLookup (int mx, int my, int src_x, int src_y)
	Lookup pre-computed costs.
void	deleteKernels ()
double	distanceLookup (int mx, int my, int src_x, int src_y)
	Lookup pre-computed distances.
void	enqueue (unsigned int index, unsigned int mx, unsigned int my, unsigned int src_x, unsigned int src_y)
	Given an index of a cell in the costmap, place it into a list pending for obstacle inflation.
void	inflate_area (int min_i, int min_j, int max_i, int max_j, unsigned char *master_grid)
void	reconfigureCB (costmap_2d::InflationPluginConfig &config, uint32_t level)
Private Attributes
unsigned int	cached_cell_inflation_radius_
unsigned char **	cached_costs_
double **	cached_distances_
unsigned int	cell_inflation_radius_
dynamic_reconfigure::Server < costmap_2d::InflationPluginConfig > *	dsrv_
std::map< double, std::vector < CellData > >	inflation_cells_
double	inflation_radius_
double	inscribed_radius_
double	last_max_x_
double	last_max_y_
double	last_min_x_
double	last_min_y_
bool	need_reinflation_
	Indicates that the entire costmap should be reinflated next time around.
double	resolution_
bool *	seen_
int	seen_size_
double	weight_

Detailed Description

Definition at line 75 of file inflation_layer.h.

Constructor & Destructor Documentation

costmap_2d::InflationLayer::InflationLayer ( )

Definition at line 54 of file inflation_layer.cpp.

virtual costmap_2d::InflationLayer::~InflationLayer ( ) [inline, virtual]

Definition at line 80 of file inflation_layer.h.

Member Function Documentation

unsigned int costmap_2d::InflationLayer::cellDistance ( double world_dist ) [inline, private]

Definition at line 165 of file inflation_layer.h.

void costmap_2d::InflationLayer::computeCaches ( ) [private]

Definition at line 304 of file inflation_layer.cpp.

unsigned char costmap_2d::InflationLayer::computeCost ( double distance ) const [inline]

Given a distance, compute a cost.

Parameters:

distance The distance from an obstacle in cells

Returns:: A cost value for the distance

Definition at line 102 of file inflation_layer.h.

unsigned char costmap_2d::InflationLayer::costLookup	(	int	mx,
		int	my,
		int	src_x,
		int	src_y
	)		`[inline, private]`

Lookup pre-computed costs.

Parameters:

mx	The x coordinate of the current cell
my	The y coordinate of the current cell
src_x	The x coordinate of the source cell
src_y	The y coordinate of the source cell

Returns:

Definition at line 154 of file inflation_layer.h.

void costmap_2d::InflationLayer::deleteKernels ( ) [private]

Definition at line 339 of file inflation_layer.cpp.

double costmap_2d::InflationLayer::distanceLookup	(	int	mx,
		int	my,
		int	src_x,
		int	src_y
	)		`[inline, private]`

Lookup pre-computed distances.

Parameters:

mx	The x coordinate of the current cell
my	The y coordinate of the current cell
src_x	The x coordinate of the source cell
src_y	The y coordinate of the source cell

Returns:

Definition at line 139 of file inflation_layer.h.

void costmap_2d::InflationLayer::enqueue	(	unsigned int	index,
		unsigned int	mx,
		unsigned int	my,
		unsigned int	src_x,
		unsigned int	src_y
	)		`[inline, private]`

Given an index of a cell in the costmap, place it into a list pending for obstacle inflation.

Parameters:

grid	The costmap
index	The index of the cell
mx	The x coordinate of the cell (can be computed from the index, but saves time to store it)
my	The y coordinate of the cell (can be computed from the index, but saves time to store it)
src_x	The x index of the obstacle point inflation started at
src_y	The y index of the obstacle point inflation started at

Definition at line 287 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::inflate_area	(	int	min_i,
		int	min_j,
		int	max_i,
		int	max_j,
		unsigned char *	master_grid
	)		`[private]`

virtual bool costmap_2d::InflationLayer::isDiscretized ( ) [inline, virtual]

Definition at line 91 of file inflation_layer.h.

void costmap_2d::InflationLayer::matchSize ( ) [virtual]

Implement this to make this layer match the size of the parent costmap.

Reimplemented from costmap_2d::Layer.

Definition at line 110 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::onFootprintChanged ( ) [protected, virtual]

LayeredCostmap calls this whenever the footprint there changes (via LayeredCostmap::setFootprint()). Override to be notified of changes to the robot's footprint.

Reimplemented from costmap_2d::Layer.

Definition at line 160 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::onInitialize ( ) [virtual]

This is called at the end of initialize(). Override to implement subclass-specific initialization.

tf_, name_, and layered_costmap_ will all be set already when this is called.

Reimplemented from costmap_2d::Layer.

Definition at line 71 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::reconfigureCB	(	costmap_2d::InflationPluginConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 100 of file inflation_layer.cpp.

virtual void costmap_2d::InflationLayer::reset ( ) [inline, virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 97 of file inflation_layer.h.

void costmap_2d::InflationLayer::setInflationParameters	(	double	inflation_radius,
		double	cost_scaling_factor
	)

Change the values of the inflation radius parameters.

Parameters:

inflation_radius	The new inflation radius
cost_scaling_factor	The new weight

Definition at line 365 of file inflation_layer.cpp.

void costmap_2d::InflationLayer::updateBounds	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)		`[virtual]`

This is called by the LayeredCostmap to poll this plugin as to how much of the costmap it needs to update. Each layer can increase the size of this bounds.

For more details, see "Layered Costmaps for Context-Sensitive Navigation", by Lu et. Al, IROS 2014.

Reimplemented from costmap_2d::Layer.

Definition at line 125 of file inflation_layer.cpp.