#include <range_sensor_layer.h>

Inheritance diagram for range_sensor_layer::RangeSensorLayer:

Public Types
enum	InputSensorType { VARIABLE, FIXED, ALL }

Public Types inherited from costmap_2d::Costmap2D
typedef boost::recursive_mutex	mutex_t

Public Member Functions
virtual void	activate ()

virtual void	deactivate ()

virtual void	onInitialize ()

	RangeSensorLayer ()

virtual void	reset ()

virtual void	updateBounds (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)

virtual void	updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

Public Member Functions inherited from costmap_2d::CostmapLayer
void	addExtraBounds (double mx0, double my0, double mx1, double my1)

	CostmapLayer ()

bool	isDiscretized ()

virtual void	matchSize ()

Public Member Functions inherited from costmap_2d::Layer
const std::vector< geometry_msgs::Point > &	getFootprint () const

std::string	getName () const

void	initialize (LayeredCostmap parent, std::string name, tf::TransformListener tf)

bool	isCurrent () const

	Layer ()

virtual void	onFootprintChanged ()

virtual	~Layer ()

Public Member Functions inherited from costmap_2d::Costmap2D
unsigned int	cellDistance (double world_dist)

void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)

bool	copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y)

	Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value=0)

	Costmap2D (const Costmap2D &map)

	Costmap2D ()

unsigned char *	getCharMap () const

unsigned char	getCost (unsigned int mx, unsigned int my) const

unsigned char	getDefaultValue ()

unsigned int	getIndex (unsigned int mx, unsigned int my) const

mutex_t *	getMutex ()

double	getOriginX () const

double	getOriginY () const

double	getResolution () const

unsigned int	getSizeInCellsX () const

unsigned int	getSizeInCellsY () const

double	getSizeInMetersX () const

double	getSizeInMetersY () const

void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const

void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const

Costmap2D &	operator= (const Costmap2D &map)

void	polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)

void	resetMap (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn)

void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y)

bool	saveMap (std::string file_name)

bool	setConvexPolygonCost (const std::vector< geometry_msgs::Point > &polygon, unsigned char cost_value)

void	setCost (unsigned int mx, unsigned int my, unsigned char cost)

void	setDefaultValue (unsigned char c)

virtual void	updateOrigin (double new_origin_x, double new_origin_y)

bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const

void	worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const

void	worldToMapNoBounds (double wx, double wy, int &mx, int &my) const

virtual	~Costmap2D ()

Private Member Functions
float	area (int x1, int y1, int x2, int y2, int x3, int y3)

void	bufferIncomingRangeMsg (const sensor_msgs::RangeConstPtr &range_message, const std::string &topic)

double	delta (double phi)

double	gamma (double theta)

void	get_deltas (double angle, double dx, double dy)

int	orient2d (int Ax, int Ay, int Bx, int By, int Cx, int Cy)

void	processFixedRangeMsg (sensor_msgs::Range &range_message)

void	processRangeMsg (sensor_msgs::Range &range_message)

void	processVariableRangeMsg (sensor_msgs::Range &range_message)

void	reconfigureCB (range_sensor_layer::RangeSensorLayerConfig &config, uint32_t level)

void	resetRange ()

double	sensor_model (double r, double phi, double theta)

unsigned char	to_cost (double p)

double	to_prob (unsigned char c)

void	update_cell (double ox, double oy, double ot, double r, double nx, double ny, bool clear)

void	updateCostmap ()

void	updateCostmap (sensor_msgs::Range &range_message, bool clear_sensor_cone)

Private Attributes
unsigned int	buffered_readings_

bool	clear_on_max_reading_

double	clear_threshold_

dynamic_reconfigure::Server< range_sensor_layer::RangeSensorLayerConfig > *	dsrv_

std::string	global_frame_

double	inflate_cone_

ros::Time	last_reading_time_

double	mark_threshold_

double	max_angle_

double	max_x_

double	max_y_

double	min_x_

double	min_y_

double	no_readings_timeout_

double	phi_v_

boost::function< void(sensor_msgs::Range &range_message)>	processRangeMessageFunc_

boost::mutex	range_message_mutex_

std::unordered_map< std::string, std::list< sensor_msgs::Range > >	range_msgs_buffers_

std::vector< ros::Subscriber >	range_subs_

size_t	ranges_buffer_size_ { 0 }

Additional Inherited Members
Protected Member Functions inherited from costmap_2d::CostmapLayer
void	touch (double x, double y, double min_x, double min_y, double max_x, double max_y)

void	updateWithAddition (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithMax (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithOverwrite (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithTrueOverwrite (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	useExtraBounds (double min_x, double min_y, double max_x, double max_y)

Protected Member Functions inherited from costmap_2d::Costmap2D
void	copyMapRegion (data_type source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, unsigned int sm_size_x, data_type dest_map, unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int region_size_y)

virtual void	deleteMaps ()

virtual void	initMaps (unsigned int size_x, unsigned int size_y)

void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX)

virtual void	resetMaps ()

Protected Attributes inherited from costmap_2d::CostmapLayer
bool	has_extra_bounds_

Protected Attributes inherited from costmap_2d::Layer
bool	current_

bool	enabled_

LayeredCostmap *	layered_costmap_

std::string	name_

tf::TransformListener *	tf_

Protected Attributes inherited from costmap_2d::Costmap2D
unsigned char *	costmap_

unsigned char	default_value_

double	origin_x_

double	origin_y_

double	resolution_

unsigned int	size_x_

unsigned int	size_y_

Detailed Description

Definition at line 18 of file range_sensor_layer.h.

Member Enumeration Documentation

enum range_sensor_layer::RangeSensorLayer::InputSensorType

Enumerator
VARIABLE
FIXED
ALL

Definition at line 21 of file range_sensor_layer.h.

Constructor & Destructor Documentation

range_sensor_layer::RangeSensorLayer::RangeSensorLayer ( )

Definition at line 19 of file range_sensor_layer.cpp.

Member Function Documentation

void range_sensor_layer::RangeSensorLayer::activate ( )

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 501 of file range_sensor_layer.cpp.

float range_sensor_layer::RangeSensorLayer::area	(	int	x1,
		int	y1,
		int	x2,
		int	y2,
		int	x3,
		int	y3
	)

inlineprivate

Definition at line 87 of file range_sensor_layer.h.

void range_sensor_layer::RangeSensorLayer::bufferIncomingRangeMsg	(	const sensor_msgs::RangeConstPtr &	range_message,
		const std::string &	topic
	)

private

Definition at line 191 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::deactivate ( )

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 496 of file range_sensor_layer.cpp.

double range_sensor_layer::RangeSensorLayer::delta ( double phi )

private

Definition at line 124 of file range_sensor_layer.cpp.

double range_sensor_layer::RangeSensorLayer::gamma ( double theta )

private

Definition at line 116 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::get_deltas	(	double	angle,
		double *	dx,
		double *	dy
	)

private

Definition at line 129 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::onInitialize ( )

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 21 of file range_sensor_layer.cpp.

int range_sensor_layer::RangeSensorLayer::orient2d	(	int	Ax,
		int	Ay,
		int	Bx,
		int	By,
		int	Cx,
		int	Cy
	)

inlineprivate

Definition at line 92 of file range_sensor_layer.h.

void range_sensor_layer::RangeSensorLayer::processFixedRangeMsg ( sensor_msgs::Range & range_message )

private

Definition at line 227 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::processRangeMsg ( sensor_msgs::Range & range_message )

private

Definition at line 219 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::processVariableRangeMsg ( sensor_msgs::Range & range_message )

private

Definition at line 253 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::reconfigureCB	(	range_sensor_layer::RangeSensorLayerConfig &	config,
		uint32_t	level
	)

private

Definition at line 161 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::reset ( )

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 487 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::resetRange ( )

private

Definition at line 404 of file range_sensor_layer.cpp.

double range_sensor_layer::RangeSensorLayer::sensor_model	(	double	r,
		double	phi,
		double	theta
	)

private

Definition at line 141 of file range_sensor_layer.cpp.

unsigned char range_sensor_layer::RangeSensorLayer::to_cost ( double p )

inlineprivate

Definition at line 61 of file range_sensor_layer.h.

double range_sensor_layer::RangeSensorLayer::to_prob ( unsigned char c )

inlineprivate

Definition at line 57 of file range_sensor_layer.h.

void range_sensor_layer::RangeSensorLayer::update_cell	(	double	ox,
		double	oy,
		double	ot,
		double	r,
		double	nx,
		double	ny,
		bool	clear
	)

private

Definition at line 380 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::updateBounds	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 410 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::updateCostmap ( )

private

Definition at line 201 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::updateCostmap	(	sensor_msgs::Range &	range_message,
		bool	clear_sensor_cone
	)

private

Definition at line 266 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::updateCosts	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)

virtual

Reimplemented from costmap_2d::Layer.

Definition at line 444 of file range_sensor_layer.cpp.

Member Data Documentation

unsigned int range_sensor_layer::RangeSensorLayer::buffered_readings_

private

Definition at line 80 of file range_sensor_layer.h.

bool range_sensor_layer::RangeSensorLayer::clear_on_max_reading_

private

Definition at line 76 of file range_sensor_layer.h.

double range_sensor_layer::RangeSensorLayer::clear_threshold_

private

Definition at line 75 of file range_sensor_layer.h.

dynamic_reconfigure::Server<range_sensor_layer::RangeSensorLayerConfig>* range_sensor_layer::RangeSensorLayer::dsrv_

private

Definition at line 84 of file range_sensor_layer.h.

std::string range_sensor_layer::RangeSensorLayer::global_frame_

private

Definition at line 73 of file range_sensor_layer.h.

double range_sensor_layer::RangeSensorLayer::inflate_cone_

private

Definition at line 72 of file range_sensor_layer.h.

ros::Time range_sensor_layer::RangeSensorLayer::last_reading_time_

private

Definition at line 79 of file range_sensor_layer.h.

double range_sensor_layer::RangeSensorLayer::mark_threshold_

private

Definition at line 75 of file range_sensor_layer.h.

double range_sensor_layer::RangeSensorLayer::max_angle_

private

Definition at line 71 of file range_sensor_layer.h.

double range_sensor_layer::RangeSensorLayer::max_x_

private

Definition at line 82 of file range_sensor_layer.h.

double range_sensor_layer::RangeSensorLayer::max_y_

private

Definition at line 82 of file range_sensor_layer.h.

double range_sensor_layer::RangeSensorLayer::min_x_

private

Definition at line 82 of file range_sensor_layer.h.

double range_sensor_layer::RangeSensorLayer::min_y_

private

Definition at line 82 of file range_sensor_layer.h.

double range_sensor_layer::RangeSensorLayer::no_readings_timeout_

private

Definition at line 78 of file range_sensor_layer.h.

double range_sensor_layer::RangeSensorLayer::phi_v_

private

Definition at line 71 of file range_sensor_layer.h.

boost::function<void(sensor_msgs::Range& range_message)> range_sensor_layer::RangeSensorLayer::processRangeMessageFunc_

private

Definition at line 66 of file range_sensor_layer.h.

boost::mutex range_sensor_layer::RangeSensorLayer::range_message_mutex_

private

Definition at line 67 of file range_sensor_layer.h.

std::unordered_map<std::string, std::list<sensor_msgs::Range> > range_sensor_layer::RangeSensorLayer::range_msgs_buffers_

private

Definition at line 69 of file range_sensor_layer.h.

std::vector<ros::Subscriber> range_sensor_layer::RangeSensorLayer::range_subs_

private

Definition at line 81 of file range_sensor_layer.h.

size_t range_sensor_layer::RangeSensorLayer::ranges_buffer_size_ { 0 }

private

Definition at line 68 of file range_sensor_layer.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation