#include <static_layer.h>

Inheritance diagram for costmap_2d::StaticLayer:

Public Member Functions
virtual void	activate ()
	Restart publishers if they've been stopped.
virtual void	deactivate ()
	Stop publishers.
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 ()
	StaticLayer ()
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	~StaticLayer ()
Private Member Functions
void	incomingMap (const nav_msgs::OccupancyGridConstPtr &new_map)
	Callback to update the costmap's map from the map_server.
void	incomingUpdate (const map_msgs::OccupancyGridUpdateConstPtr &update)
unsigned char	interpretValue (unsigned char value)
void	reconfigureCB (costmap_2d::GenericPluginConfig &config, uint32_t level)
Private Attributes
dynamic_reconfigure::Server < costmap_2d::GenericPluginConfig > *	dsrv_
bool	first_map_only_
	Store the first static map and reuse it on reinitializing.
std::string	global_frame_
	The global frame for the costmap.
bool	has_updated_data_
unsigned int	height_
unsigned char	lethal_threshold_
std::string	map_frame_
bool	map_received_
ros::Subscriber	map_sub_
ros::Subscriber	map_update_sub_
bool	subscribe_to_updates_
	frame that map is located in
bool	track_unknown_space_
bool	trinary_costmap_
unsigned char	unknown_cost_value_
bool	use_maximum_
unsigned int	width_
unsigned int	x_
unsigned int	y_

Detailed Description

Definition at line 53 of file static_layer.h.

Constructor & Destructor Documentation

costmap_2d::StaticLayer::StaticLayer ( )

Definition at line 52 of file static_layer.cpp.

costmap_2d::StaticLayer::~StaticLayer ( ) [virtual]

Definition at line 54 of file static_layer.cpp.

Member Function Documentation

void costmap_2d::StaticLayer::activate ( ) [virtual]

Restart publishers if they've been stopped.

Reimplemented from costmap_2d::Layer.

Definition at line 243 of file static_layer.cpp.

void costmap_2d::StaticLayer::deactivate ( ) [virtual]

Stop publishers.

Reimplemented from costmap_2d::Layer.

Definition at line 248 of file static_layer.cpp.

void costmap_2d::StaticLayer::incomingMap ( const nav_msgs::OccupancyGridConstPtr & new_map ) [private]

Callback to update the costmap's map from the map_server.

Parameters:

new_map The map to put into the costmap. The origin of the new map along with its size will determine what parts of the costmap's static map are overwritten.

Definition at line 164 of file static_layer.cpp.

void costmap_2d::StaticLayer::incomingUpdate ( const map_msgs::OccupancyGridUpdateConstPtr & update ) [private]

Definition at line 224 of file static_layer.cpp.

unsigned char costmap_2d::StaticLayer::interpretValue ( unsigned char value ) [private]

Definition at line 148 of file static_layer.cpp.

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

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

Reimplemented from costmap_2d::CostmapLayer.

Definition at line 136 of file static_layer.cpp.

void costmap_2d::StaticLayer::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 60 of file static_layer.cpp.

void costmap_2d::StaticLayer::reconfigureCB	(	costmap_2d::GenericPluginConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 124 of file static_layer.cpp.

void costmap_2d::StaticLayer::reset ( ) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 255 of file static_layer.cpp.

void costmap_2d::StaticLayer::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 267 of file static_layer.cpp.