#include <hector_costmap.h>

Public Member Functions
void	callbackElevationMap (const hector_elevation_msgs::ElevationGridConstPtr &elevation_map_msg)
	callbackElevationMap get called if a new elevation map is available More...

void	callbackGridMap (const nav_msgs::OccupancyGridConstPtr &grid_map_msg)
	callbackGridMap get called if a new 2D grid map is available More...

void	callbackPointCloud (const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
	callbackOctoMap get called if a new octo map is available More...

	CostMapCalculation ()
	Default constructor. More...

void	dynRecParamCallback (hector_costmap::CostMapCalculationConfig &config, uint32_t level)
	dynRecParamCallback This function get called if new parameters has been set with the dynamic reconfigure dialog More...

void	sysMessageCallback (const std_msgs::String &string)
	sysMessageCallback This function listen to system messages More...

void	timerCallback (const ros::TimerEvent &event)
	timerCallback publishes periodically a new 2D cost map More...

void	updateMapParamsCallback (const nav_msgs::MapMetaData &map_meta_data)
	updateMapParamsCallback updates the map meta information if someone has changed it More...

	~CostMapCalculation ()
	Default deconstructor. More...

Private Member Functions
bool	calculateCostMap (char map_level)
	This function fuses the elevation and grid map und calculates the 2d cost map. More...

bool	calculateCostMap_old (char map_level)
	This function fuses the elevation and grid map und calculates the 2d cost map. More...

bool	computeWindowIndices (ros::Time time, double update_radius)
	Computes the indices for the bounding box thats get updated. More...

Private Attributes
bool	allow_elevation_map_to_clear_occupied_cells

nav_msgs::OccupancyGrid	cloud_cost_map

nav_msgs::OccupancyGrid	cost_map

std::string	cost_map_topic

double	costmap_pub_freq

dynamic_reconfigure::Server< hector_costmap::CostMapCalculationConfig >	dyn_rec_server_

nav_msgs::OccupancyGrid	elevation_cost_map

cv::Mat	elevation_cost_map_

cv::Mat	elevation_map_

cv::Mat	elevation_map_filtered

std::string	elevation_map_topic

int	elevation_zero_level

cv::Mat	grid_map_

nav_msgs::OccupancyGridConstPtr	grid_map_msg_

std::string	grid_map_topic

double	grid_res_z

double	initial_free_cells_radius

tf::TransformListener	listener

std::string	local_transform_frame_id

std::string	map_frame_id

int	max_clear_size

double	max_delta_elevation

Eigen::Vector2i	max_index

Eigen::Vector2i	min_index

ros::NodeHandle	nHandle

ros::NodeHandle	pnHandle

std::string	point_cloud_topic

ros::Publisher	pub_cloud_slice

ros::Publisher	pub_cost_map

bool	received_elevation_map

bool	received_grid_map

bool	received_point_cloud

pcl::PointCloud< pcl::PointXYZ >::Ptr	sliced_cloud

double	slize_max_height

double	slize_min_height

ros::Subscriber	sub_elevation_map

ros::Subscriber	sub_grid_map

ros::Subscriber	sub_map_info

ros::Subscriber	sub_point_cloud

ros::Subscriber	sub_sysMessage

std::string	sys_msg_topic

ros::Timer	timer

double	update_radius_world

bool	use_cloud_map

bool	use_elevation_map

bool	use_grid_map

HectorMapTools::CoordinateTransformer< float >	world_map_transform

Detailed Description

Definition at line 27 of file hector_costmap.h.

Constructor & Destructor Documentation

CostMapCalculation::CostMapCalculation ( )

Default constructor.

Definition at line 21 of file hector_costmap.cpp.

CostMapCalculation::~CostMapCalculation ( )

Default deconstructor.

Definition at line 113 of file hector_costmap.cpp.

Member Function Documentation

bool CostMapCalculation::calculateCostMap ( char map_level )

private

This function fuses the elevation and grid map und calculates the 2d cost map.

Parameters

[in] map_level set the method to calculate the 2d cost map (binary encoded)

Return values

true	if everything went fine, otherwise false

Definition at line 675 of file hector_costmap.cpp.

bool CostMapCalculation::calculateCostMap_old ( char map_level )

private

This function fuses the elevation and grid map und calculates the 2d cost map.

Parameters

[in] map_level set the method to calculate the 2d cost map

Return values

true	if everything went fine, otherwise false

Definition at line 440 of file hector_costmap.cpp.

void CostMapCalculation::callbackElevationMap ( const hector_elevation_msgs::ElevationGridConstPtr & elevation_map_msg )

callbackElevationMap get called if a new elevation map is available

Parameters

[in] elevation_map_msg stores an elevation map as a 2.5D grid

Definition at line 225 of file hector_costmap.cpp.

void CostMapCalculation::callbackGridMap ( const nav_msgs::OccupancyGridConstPtr & grid_map_msg )

callbackGridMap get called if a new 2D grid map is available

Parameters

[in] grid_map_msg stores 2D grid map data

Definition at line 390 of file hector_costmap.cpp.

void CostMapCalculation::callbackPointCloud ( const sensor_msgs::PointCloud2ConstPtr & cloud_msg )

callbackOctoMap get called if a new octo map is available

Parameters

[in] octo_map_msg stores an octo map as a 3D point cloud

Definition at line 309 of file hector_costmap.cpp.

bool CostMapCalculation::computeWindowIndices	(	ros::Time	time,
		double	update_radius
	)

private

Computes the indices for the bounding box thats get updated.

Parameters

[in]	time	Current time is needed
[in]	update_radius	determines the size of the bounding box in [m]

Return values

true	if everything went fine, otherwise false

Definition at line 754 of file hector_costmap.cpp.

void CostMapCalculation::dynRecParamCallback	(	hector_costmap::CostMapCalculationConfig &	config,
		uint32_t	level
	)

dynRecParamCallback This function get called if new parameters has been set with the dynamic reconfigure dialog

Parameters

[in]	config	contains current parameters
[in]	level	is unused

Definition at line 148 of file hector_costmap.cpp.

void CostMapCalculation::sysMessageCallback ( const std_msgs::String & string )

sysMessageCallback This function listen to system messages

Parameters

[in] string parameter contains system messages, like "reset"

Definition at line 119 of file hector_costmap.cpp.

void CostMapCalculation::timerCallback ( const ros::TimerEvent & event )

timerCallback publishes periodically a new 2D cost map

Parameters

[in] event is unused

Definition at line 213 of file hector_costmap.cpp.

void CostMapCalculation::updateMapParamsCallback ( const nav_msgs::MapMetaData & map_meta_data )

updateMapParamsCallback updates the map meta information if someone has changed it

Parameters

[in] map_meta_data map meta information like grid resolution or origin

Definition at line 159 of file hector_costmap.cpp.

Member Data Documentation

bool CostMapCalculation::allow_elevation_map_to_clear_occupied_cells

private

Definition at line 104 of file hector_costmap.h.

nav_msgs::OccupancyGrid CostMapCalculation::cloud_cost_map

private

Definition at line 112 of file hector_costmap.h.

nav_msgs::OccupancyGrid CostMapCalculation::cost_map

private

Definition at line 112 of file hector_costmap.h.

std::string CostMapCalculation::cost_map_topic

private

Definition at line 116 of file hector_costmap.h.

double CostMapCalculation::costmap_pub_freq

private

Definition at line 106 of file hector_costmap.h.

dynamic_reconfigure::Server<hector_costmap::CostMapCalculationConfig> CostMapCalculation::dyn_rec_server_

private

Definition at line 92 of file hector_costmap.h.

nav_msgs::OccupancyGrid CostMapCalculation::elevation_cost_map

private

Definition at line 112 of file hector_costmap.h.

cv::Mat CostMapCalculation::elevation_cost_map_

private

Definition at line 114 of file hector_costmap.h.

cv::Mat CostMapCalculation::elevation_map_

private

Definition at line 114 of file hector_costmap.h.

cv::Mat CostMapCalculation::elevation_map_filtered

private

Definition at line 114 of file hector_costmap.h.

std::string CostMapCalculation::elevation_map_topic

private

Definition at line 116 of file hector_costmap.h.

int CostMapCalculation::elevation_zero_level

private

Definition at line 102 of file hector_costmap.h.

cv::Mat CostMapCalculation::grid_map_

private

Definition at line 114 of file hector_costmap.h.

nav_msgs::OccupancyGridConstPtr CostMapCalculation::grid_map_msg_

private

Definition at line 110 of file hector_costmap.h.

std::string CostMapCalculation::grid_map_topic

private

Definition at line 116 of file hector_costmap.h.

double CostMapCalculation::grid_res_z

private

Definition at line 101 of file hector_costmap.h.

double CostMapCalculation::initial_free_cells_radius

private

Definition at line 100 of file hector_costmap.h.

tf::TransformListener CostMapCalculation::listener

private

Definition at line 94 of file hector_costmap.h.

std::string CostMapCalculation::local_transform_frame_id

private

Definition at line 117 of file hector_costmap.h.

std::string CostMapCalculation::map_frame_id

private

Definition at line 117 of file hector_costmap.h.

int CostMapCalculation::max_clear_size

private

Definition at line 105 of file hector_costmap.h.

double CostMapCalculation::max_delta_elevation

private

Definition at line 103 of file hector_costmap.h.

Eigen::Vector2i CostMapCalculation::max_index

private

Definition at line 119 of file hector_costmap.h.

Eigen::Vector2i CostMapCalculation::min_index

private

Definition at line 119 of file hector_costmap.h.

ros::NodeHandle CostMapCalculation::nHandle

private

Definition at line 80 of file hector_costmap.h.

ros::NodeHandle CostMapCalculation::pnHandle

private

Definition at line 81 of file hector_costmap.h.

std::string CostMapCalculation::point_cloud_topic

private

Definition at line 116 of file hector_costmap.h.

ros::Publisher CostMapCalculation::pub_cloud_slice

private

Definition at line 84 of file hector_costmap.h.

ros::Publisher CostMapCalculation::pub_cost_map

private

Definition at line 83 of file hector_costmap.h.

bool CostMapCalculation::received_elevation_map

private

Definition at line 104 of file hector_costmap.h.

bool CostMapCalculation::received_grid_map

private

Definition at line 104 of file hector_costmap.h.

bool CostMapCalculation::received_point_cloud

private

Definition at line 104 of file hector_costmap.h.

pcl::PointCloud<pcl::PointXYZ>::Ptr CostMapCalculation::sliced_cloud

private

Definition at line 109 of file hector_costmap.h.

double CostMapCalculation::slize_max_height

private

Definition at line 107 of file hector_costmap.h.

double CostMapCalculation::slize_min_height

private

Definition at line 107 of file hector_costmap.h.

ros::Subscriber CostMapCalculation::sub_elevation_map

private

Definition at line 86 of file hector_costmap.h.

ros::Subscriber CostMapCalculation::sub_grid_map

private

Definition at line 87 of file hector_costmap.h.

ros::Subscriber CostMapCalculation::sub_map_info

private

Definition at line 90 of file hector_costmap.h.

ros::Subscriber CostMapCalculation::sub_point_cloud

private

Definition at line 88 of file hector_costmap.h.

ros::Subscriber CostMapCalculation::sub_sysMessage

private

Definition at line 89 of file hector_costmap.h.

std::string CostMapCalculation::sys_msg_topic

private

Definition at line 116 of file hector_costmap.h.

ros::Timer CostMapCalculation::timer

private

Definition at line 96 of file hector_costmap.h.

double CostMapCalculation::update_radius_world

private

Definition at line 100 of file hector_costmap.h.

bool CostMapCalculation::use_cloud_map

private

Definition at line 104 of file hector_costmap.h.

bool CostMapCalculation::use_elevation_map

private

Definition at line 104 of file hector_costmap.h.

bool CostMapCalculation::use_grid_map

private

Definition at line 104 of file hector_costmap.h.

HectorMapTools::CoordinateTransformer<float> CostMapCalculation::world_map_transform

private

Definition at line 98 of file hector_costmap.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation