Namespaces | |
Inflate | |
Classes | |
class | CircleIterator |
class | CostMap |
class | Costmap2DROSServiceProvider |
Provide cost_map::fromROSCostMap2D() as a ros service. More... | |
class | CostMapIterator |
class | Deflate |
class | EllipseIterator |
class | Inflate |
class | InflationComputer |
class | LineIterator |
class | LoadImageBundle |
Helper for loading and publishing image bundles. More... | |
class | PolygonIterator |
class | ROSInflationComputer |
class | SaveImageBundle |
Helper for saving an image bundle from a cost map topic. More... | |
class | SpiralIterator |
class | SubmapGeometry |
class | SubmapIterator |
Typedefs | |
typedef grid_map::BufferRegion | BufferRegion |
typedef std::shared_ptr< cost_map::CostMap const > | CostMapConstPtr |
typedef std::shared_ptr< cost_map::CostMap > | CostMapPtr |
typedef grid_map::Matrix | DataMatrix |
typedef Matrix::Scalar | DataType |
typedef grid_map::Index | Index |
typedef grid_map::Length | Length |
typedef Eigen::Matrix< unsigned char, Eigen::Dynamic, Eigen::Dynamic > | Matrix |
typedef grid_map::Polygon | Polygon |
typedef grid_map::Position | Position |
typedef grid_map::Position3 | Position3 |
typedef grid_map::Size | Size |
typedef grid_map::Time | Time |
typedef grid_map::Vector | Vector |
typedef grid_map::Vector3 | Vector3 |
Functions | |
bool | addLayerFromROSImage (const sensor_msgs::Image &image, const std::string &layer_name, cost_map::CostMap &cost_map) |
bool | fromCostmap2DROS (costmap_2d::Costmap2DROS &ros_costmap, const std::string &layer_name, cost_map::CostMap &cost_map) |
Converts a ROS costmap to a costmap object. More... | |
bool | fromCostmap2DROSAtRobotPose (costmap_2d::Costmap2DROS &ros_costmap, const cost_map::Length &geometry, const std::string &layer_name, cost_map::CostMap &cost_map) |
Converts a ROS costmap around the robot to a costmap object. More... | |
void | fromImageBundle (const std::string &filename, cost_map::CostMap &cost_map) |
Initialises a adds a single layer from a yaml/image resource pair. More... | |
bool | fromMessage (const cost_map_msgs::CostMap &message, cost_map::CostMap &cost_map) |
std::string | resolveResourceName (const std::string &resource_name) |
Use rospack to resolve a costmap given a ros package resource name. More... | |
void | toGridMap (const cost_map::CostMap cost_map, grid_map::GridMap &grid_map) |
Convert a cost map object into a grid map object. More... | |
void | toImageBundle (const std::string &filename, const cost_map::CostMap &cost_map) |
Dump a cost map to an image bundle set of files. More... | |
void | toMessage (const cost_map::CostMap &cost_map, cost_map_msgs::CostMap &message) |
void | toOccupancyGrid (const cost_map::CostMap &cost_map, const std::string &layer, nav_msgs::OccupancyGrid &msg) |
Variables | |
const unsigned char | FREE_SPACE |
const unsigned char | INSCRIBED_OBSTACLE |
const unsigned char | LETHAL_OBSTACLE |
const unsigned char | NO_INFORMATION |
bool cost_map::addLayerFromROSImage | ( | const sensor_msgs::Image & | image, |
const std::string & | layer_name, | ||
cost_map::CostMap & | cost_map | ||
) |
Definition at line 37 of file converter.cpp.
bool cost_map::fromCostmap2DROS | ( | costmap_2d::Costmap2DROS & | ros_costmap, |
const std::string & | layer_name, | ||
cost_map::CostMap & | cost_map | ||
) |
Converts a ROS costmap to a costmap object.
This copies the complete costmap and all relevant details of the underlying Costmap2D object. Note that it does not transfer properties in the Costmap2DROS object such as the notion of the robot pose.
[in] | ros_costmap | : a traditional ros costmap object. |
[in] | layer_name | : new costmaps have multiple layers, so important to specify a name |
[out] | costmap | : a cost_map::CostMap object |
Definition at line 216 of file converter.cpp.
bool cost_map::fromCostmap2DROSAtRobotPose | ( | costmap_2d::Costmap2DROS & | ros_costmap, |
const cost_map::Length & | geometry, | ||
const std::string & | layer_name, | ||
cost_map::CostMap & | cost_map | ||
) |
Converts a ROS costmap around the robot to a costmap object.
This automatically affixes the cost map grid to the location of the robot in the ros costmap. Resolution is also carried across. The only configuration necessary is to specify how large the cost map should be. Take care that this subwindow does not go off the edge of the underlying ros costmap!
[in] | ros_costmap | : a traditional ros costmap object (input). |
[in] | geometry | : size of the subwindow (mxm) |
[in] | layer_name | : new costmaps have multiple layers, so important to specify a name |
[out] | costmap | : a cost_map::CostMap object |
Definition at line 229 of file converter.cpp.
void cost_map::fromImageBundle | ( | const std::string & | filename, |
cost_map::CostMap & | cost_map | ||
) |
Initialises a adds a single layer from a yaml/image resource pair.
[in] | filename | : yaml file |
[out] | cost_map | : |
std::logic_error | if the yaml couldn't be read, or the required yaml was not valid |
Definition at line 34 of file image_bundles.cpp.
bool cost_map::fromMessage | ( | const cost_map_msgs::CostMap & | message, |
cost_map::CostMap & | cost_map | ||
) |
Converts a ROS cost map message to a cost map object.
[in] | message | the cost map message. |
[out] | cost_map | the cost map object to be initialized. |
Definition at line 186 of file converter.cpp.
std::string cost_map::resolveResourceName | ( | const std::string & | resource_name | ) |
Use rospack to resolve a costmap given a ros package resource name.
Costmaps are yaml files with configuration and a pointer to an opencv image to load. They are exported in the package.xml with a 'cost_map' tag and 'yaml' attribute.
http://wiki.ros.org/Names#Package_Resource_Names
[in] | resource_name | : ros package resource name |
std::invalid_argument | if resource_name is the incorrect syntax |
std::runtime_error | if the resource could not be found |
Definition at line 23 of file utilities.cpp.
void cost_map::toGridMap | ( | const cost_map::CostMap | cost_map, |
grid_map::GridMap & | grid_map | ||
) |
void cost_map::toImageBundle | ( | const std::string & | filename, |
const cost_map::CostMap & | cost_map | ||
) |
Dump a cost map to an image bundle set of files.
This creates the specified yaml file with image bundle meta information and a set of png images alongside, one for each layer in the cost map.
[in] | filename | : name of the yaml file to write |
[in] | cost_map | : cost map to dump |
Definition at line 135 of file image_bundles.cpp.
void cost_map::toMessage | ( | const cost_map::CostMap & | cost_map, |
cost_map_msgs::CostMap & | message | ||
) |
Converts all layers of a grid map object to a ROS grid map message.
[in] | gridMap | the grid map object. |
[out] | message | the grid map message to be populated. |
Definition at line 154 of file converter.cpp.
void cost_map::toOccupancyGrid | ( | const cost_map::CostMap & | cost_map, |
const std::string & | layer, | ||
nav_msgs::OccupancyGrid & | msg | ||
) |
Definition at line 245 of file converter.cpp.