costmap_to_lines_convex_hull.h
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36  * Author: Christoph Rösmann, Otniel Rinaldo
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38 
39 #ifndef COSTMAP_TO_LINES_CONVEX_HULL_H_
40 #define COSTMAP_TO_LINES_CONVEX_HULL_H_
41 
44 
45 // dynamic reconfigure
46 #include <costmap_converter/CostmapToLinesDBSMCCHConfig.h>
47 
48 namespace costmap_converter
49 {
50 
70  {
71  public:
72 
77 
81  virtual ~CostmapToLinesDBSMCCH();
82 
87  virtual void initialize(ros::NodeHandle nh);
88 
92  virtual void compute();
93 
94 
95  protected:
96 
103  void extractPointsAndLines(std::vector<KeyPoint>& cluster, const geometry_msgs::Polygon& polygon, std::back_insert_iterator< std::vector<geometry_msgs::Polygon> > lines);
104 
105 
106 
107  protected:
108 
112 
113  private:
114 
122  void reconfigureCB(CostmapToLinesDBSMCCHConfig& config, uint32_t level);
123 
124  dynamic_reconfigure::Server<CostmapToLinesDBSMCCHConfig>* dynamic_recfg_;
125 
126  };
127 
128 
129 
130 
131 
132 
133 
134 
135 } //end namespace teb_local_planner
136 
137 #endif /* COSTMAP_TO_LINES_CONVEX_HULL_H_ */
virtual void compute()
This method performs the actual work (conversion of the costmap to polygons)
virtual void initialize(ros::NodeHandle nh)
Initialize the plugin.
This class converts the costmap_2d into a set of lines (and points)
dynamic_reconfigure::Server< CostmapToLinesDBSMCCHConfig > * dynamic_recfg_
Dynamic reconfigure server to allow config modifications at runtime.
This class converts the costmap_2d into a set of convex polygons (and points)
void reconfigureCB(CostmapToLinesDBSMCCHConfig &config, uint32_t level)
Callback for the dynamic_reconfigure node.
void extractPointsAndLines(std::vector< KeyPoint > &cluster, const geometry_msgs::Polygon &polygon, std::back_insert_iterator< std::vector< geometry_msgs::Polygon > > lines)
Extract points and lines from a given cluster by checking all keypoint pairs of the convex hull for a...


costmap_converter
Author(s): Christoph Rösmann , Franz Albers , Otniel Rinaldo
autogenerated on Sat May 16 2020 03:19:18