clear_costmap_recovery::ClearCostmapRecovery Class Reference

A recovery behavior that reverts the navigation stack's costmaps to the static map outside of a user-specified region. More...

#include <clear_costmap_recovery.h>

Inheritance diagram for clear_costmap_recovery::ClearCostmapRecovery:

Public Member Functions
	ClearCostmapRecovery ()
	Constructor, make sure to call initialize in addition to actually initialize the object. More...
void	initialize (std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *global_costmap, costmap_2d::Costmap2DROS *local_costmap)
	Initialization function for the ClearCostmapRecovery recovery behavior. More...
void	runBehavior ()
	Run the ClearCostmapRecovery recovery behavior. Reverts the costmap to the static map outside of a user-specified window and clears unknown space around the robot. More...
Public Member Functions inherited from nav_core::RecoveryBehavior
virtual	~RecoveryBehavior ()

Private Member Functions
void	clear (costmap_2d::Costmap2DROS *costmap)
void	clearMap (boost::shared_ptr< costmap_2d::CostmapLayer > costmap, double pose_x, double pose_y)

Private Attributes
std::set< std::string >	clearable_layers_
	Layer names which will be cleared. More...
costmap_2d::Costmap2DROS *	global_costmap_
bool	initialized_
costmap_2d::Costmap2DROS *	local_costmap_
std::string	name_
double	reset_distance_
tf::TransformListener *	tf_

Additional Inherited Members
Protected Member Functions inherited from nav_core::RecoveryBehavior
	RecoveryBehavior ()

Detailed Description

A recovery behavior that reverts the navigation stack's costmaps to the static map outside of a user-specified region.

Definition at line 50 of file clear_costmap_recovery.h.

Constructor & Destructor Documentation

clear_costmap_recovery::ClearCostmapRecovery::ClearCostmapRecovery

(

)

Constructor, make sure to call initialize in addition to actually initialize the object.

Parameters

Definition at line 47 of file clear_costmap_recovery.cpp.

Member Function Documentation

void clear_costmap_recovery::ClearCostmapRecovery::clear ( costmap_2d::Costmap2DROS *  costmap )

private

Definition at line 95 of file clear_costmap_recovery.cpp.

void clear_costmap_recovery::ClearCostmapRecovery::clearMap ( boost::shared_ptr< costmap_2d::CostmapLayer >  costmap, double  pose_x, double  pose_y  )

private

Definition at line 125 of file clear_costmap_recovery.cpp.

void clear_costmap_recovery::ClearCostmapRecovery::initialize ( std::string  name, tf::TransformListener *  tf, costmap_2d::Costmap2DROS *  global_costmap, costmap_2d::Costmap2DROS *  local_costmap  )

virtual

Initialization function for the ClearCostmapRecovery recovery behavior.

Parameters

tf	A pointer to a transform listener
global_costmap	A pointer to the global_costmap used by the navigation stack
local_costmap	A pointer to the local_costmap used by the navigation stack

Implements nav_core::RecoveryBehavior.

Definition at line 50 of file clear_costmap_recovery.cpp.

void clear_costmap_recovery::ClearCostmapRecovery::runBehavior ( )

virtual

Run the ClearCostmapRecovery recovery behavior. Reverts the costmap to the static map outside of a user-specified window and clears unknown space around the robot.

Implements nav_core::RecoveryBehavior.

Definition at line 80 of file clear_costmap_recovery.cpp.

Member Data Documentation

std::set<std::string> clear_costmap_recovery::ClearCostmapRecovery::clearable_layers_

private

Layer names which will be cleared.

Definition at line 83 of file clear_costmap_recovery.h.

costmap_2d::Costmap2DROS* clear_costmap_recovery::ClearCostmapRecovery::global_costmap_

private

Definition at line 78 of file clear_costmap_recovery.h.

bool clear_costmap_recovery::ClearCostmapRecovery::initialized_

private

Definition at line 81 of file clear_costmap_recovery.h.

costmap_2d::Costmap2DROS * clear_costmap_recovery::ClearCostmapRecovery::local_costmap_

private

Definition at line 78 of file clear_costmap_recovery.h.

std::string clear_costmap_recovery::ClearCostmapRecovery::name_

private

Definition at line 79 of file clear_costmap_recovery.h.

double clear_costmap_recovery::ClearCostmapRecovery::reset_distance_

private

Definition at line 82 of file clear_costmap_recovery.h.

tf::TransformListener* clear_costmap_recovery::ClearCostmapRecovery::tf_

private

Definition at line 80 of file clear_costmap_recovery.h.

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

• clear_costmap_recovery.h
• clear_costmap_recovery.cpp