#include <costmap_converter_interface.h>

Inheritance diagram for costmap_converter::BaseCostmapToDynamicObstacles:

Public Member Functions
void	convertStaticObstacles ()
	Apply the underlying plugin for static costmap conversion.
PolygonContainerConstPtr	getStaticPolygons ()
	Get the converted polygons from the underlying plugin.
void	loadStaticCostmapConverterPlugin (const std::string &plugin_name, ros::NodeHandle nh_parent)
	Load underlying static costmap conversion plugin via plugin-loader.
void	setStaticCostmap (boost::shared_ptr< costmap_2d::Costmap2D > static_costmap)
	Set the costmap for the underlying plugin.
void	setStaticCostmapConverterPlugin (boost::shared_ptr< BaseCostmapToPolygons > static_costmap_converter)
	Set the underlying plugin for subsequent costmap conversion of the static background of the costmap.
bool	stackedCostmapConversion ()
	Determines whether an additional plugin for subsequent costmap conversion is specified.
Protected Member Functions
	BaseCostmapToDynamicObstacles ()
	Protected constructor that should be called by subclasses.
Private Attributes
pluginlib::ClassLoader < BaseCostmapToPolygons >	static_converter_loader_
boost::shared_ptr < BaseCostmapToPolygons >	static_costmap_converter_

Detailed Description

Definition at line 272 of file costmap_converter_interface.h.

Constructor & Destructor Documentation

costmap_converter::BaseCostmapToDynamicObstacles::BaseCostmapToDynamicObstacles ( ) [inline, protected]

Protected constructor that should be called by subclasses.

Definition at line 356 of file costmap_converter_interface.h.

Member Function Documentation

void costmap_converter::BaseCostmapToDynamicObstacles::convertStaticObstacles ( ) [inline]

Apply the underlying plugin for static costmap conversion.

Definition at line 325 of file costmap_converter_interface.h.

PolygonContainerConstPtr costmap_converter::BaseCostmapToDynamicObstacles::getStaticPolygons ( ) [inline]

Get the converted polygons from the underlying plugin.

Returns:: Shared instance of the underlying plugins polygon container

Definition at line 334 of file costmap_converter_interface.h.

void costmap_converter::BaseCostmapToDynamicObstacles::loadStaticCostmapConverterPlugin	(	const std::string &	plugin_name,
		ros::NodeHandle	nh_parent
	)		`[inline]`

Load underlying static costmap conversion plugin via plugin-loader.

Parameters:

plugin_name	Exact class name of the plugin to be loaded, e.g. costmap_converter::CostmapToPolygonsDBSMCCH
nh_parent	NodeHandle which is extended by the namespace of the static conversion plugin

Definition at line 282 of file costmap_converter_interface.h.

void costmap_converter::BaseCostmapToDynamicObstacles::setStaticCostmap ( boost::shared_ptr< costmap_2d::Costmap2D > static_costmap ) [inline]

Set the costmap for the underlying plugin.

Parameters:

static_costmap Costmap2D, which contains the static part of the original costmap

Definition at line 317 of file costmap_converter_interface.h.

void costmap_converter::BaseCostmapToDynamicObstacles::setStaticCostmapConverterPlugin ( boost::shared_ptr< BaseCostmapToPolygons > static_costmap_converter ) [inline]

Set the underlying plugin for subsequent costmap conversion of the static background of the costmap.

Parameters:

static_costmap_converter shared pointer to the static costmap conversion plugin

Definition at line 308 of file costmap_converter_interface.h.

bool costmap_converter::BaseCostmapToDynamicObstacles::stackedCostmapConversion ( ) [inline, virtual]

Determines whether an additional plugin for subsequent costmap conversion is specified.