Instantiates different layer plugins and aggregates them into one score. More...

#include <layered_costmap.h>

Public Member Functions
void	addPlugin (boost::shared_ptr< Layer > plugin)
void	getBounds (unsigned int x0, unsigned int xn, unsigned int y0, unsigned int yn)
double	getCircumscribedRadius ()
	The radius of a circle centered at the origin of the robot which just surrounds all points on the robot's footprint.
Costmap2D *	getCostmap ()
const std::vector < geometry_msgs::Point > &	getFootprint ()
	Returns the latest footprint stored with setFootprint().
std::string	getGlobalFrameID () const
double	getInscribedRadius ()
	The radius of a circle centered at the origin of the robot which is just within all points and edges of the robot's footprint.
std::vector< boost::shared_ptr < Layer > > *	getPlugins ()
void	getUpdatedBounds (double &minx, double &miny, double &maxx, double &maxy)
bool	isCurrent ()
bool	isInitialized ()
bool	isRolling ()
bool	isSizeLocked ()
bool	isTrackingUnknown ()
	LayeredCostmap (std::string global_frame, bool rolling_window, bool track_unknown)
	Constructor for a costmap.
void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y, bool size_locked=false)
void	setFootprint (const std::vector< geometry_msgs::Point > &footprint_spec)
	Updates the stored footprint, updates the circumscribed and inscribed radii, and calls onFootprintChanged() in all layers.
void	updateMap (double robot_x, double robot_y, double robot_yaw)
	Update the underlying costmap with new data. If you want to update the map outside of the update loop that runs, you can call this.
	~LayeredCostmap ()
	Destructor.
Private Attributes
unsigned int	bx0_
unsigned int	bxn_
unsigned int	by0_
unsigned int	byn_
double	circumscribed_radius_
Costmap2D	costmap_
bool	current_
	<
std::vector< geometry_msgs::Point >	footprint_
std::string	global_frame_
bool	initialized_
double	inscribed_radius_
double	maxx_
double	maxy_
double	minx_
double	miny_
std::vector< boost::shared_ptr < Layer > >	plugins_
bool	rolling_window_
bool	size_locked_

Detailed Description

Instantiates different layer plugins and aggregates them into one score.

Definition at line 55 of file layered_costmap.h.

Constructor & Destructor Documentation

costmap_2d::LayeredCostmap::LayeredCostmap	(	std::string	global_frame,
		bool	rolling_window,
		bool	track_unknown
	)

Constructor for a costmap.

Definition at line 50 of file layered_costmap.cpp.

costmap_2d::LayeredCostmap::~LayeredCostmap ( )

Destructor.

Definition at line 59 of file layered_costmap.cpp.

Member Function Documentation

void costmap_2d::LayeredCostmap::addPlugin ( boost::shared_ptr< Layer > plugin ) [inline]

Definition at line 112 of file layered_costmap.h.

void costmap_2d::LayeredCostmap::getBounds	(	unsigned int *	x0,
		unsigned int *	xn,
		unsigned int *	y0,
		unsigned int *	yn
	)		`[inline]`

Definition at line 122 of file layered_costmap.h.

double costmap_2d::LayeredCostmap::getCircumscribedRadius ( ) [inline]

The radius of a circle centered at the origin of the robot which just surrounds all points on the robot's footprint.

This is updated by setFootprint().

Definition at line 148 of file layered_costmap.h.

Costmap2D* costmap_2d::LayeredCostmap::getCostmap ( ) [inline]

Definition at line 92 of file layered_costmap.h.

const std::vector<geometry_msgs::Point>& costmap_2d::LayeredCostmap::getFootprint ( ) [inline]

Returns the latest footprint stored with setFootprint().

Definition at line 141 of file layered_costmap.h.

std::string costmap_2d::LayeredCostmap::getGlobalFrameID ( ) const [inline]

Definition at line 74 of file layered_costmap.h.

double costmap_2d::LayeredCostmap::getInscribedRadius ( ) [inline]

The radius of a circle centered at the origin of the robot which is just within all points and edges of the robot's footprint.

This is updated by setFootprint().

Definition at line 155 of file layered_costmap.h.

std::vector<boost::shared_ptr<Layer> >* costmap_2d::LayeredCostmap::getPlugins ( ) [inline]

Definition at line 107 of file layered_costmap.h.

void costmap_2d::LayeredCostmap::getUpdatedBounds	(	double &	minx,
		double &	miny,
		double &	maxx,
		double &	maxy
	)		`[inline]`

Definition at line 82 of file layered_costmap.h.

bool costmap_2d::LayeredCostmap::isCurrent ( )

Definition at line 146 of file layered_costmap.cpp.

bool costmap_2d::LayeredCostmap::isInitialized ( ) [inline]

Definition at line 130 of file layered_costmap.h.

bool costmap_2d::LayeredCostmap::isRolling ( ) [inline]

Definition at line 97 of file layered_costmap.h.

bool costmap_2d::LayeredCostmap::isSizeLocked ( ) [inline]

Definition at line 117 of file layered_costmap.h.

bool costmap_2d::LayeredCostmap::isTrackingUnknown ( ) [inline]

Definition at line 102 of file layered_costmap.h.

void costmap_2d::LayeredCostmap::resizeMap	(	unsigned int	size_x,
		unsigned int	size_y,
		double	resolution,
		double	origin_x,
		double	origin_y,
		bool	size_locked = `false`
	)