clear_costmap_recovery.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef CLEAR_COSTMAP_RECOVERY_H_
38 #define CLEAR_COSTMAP_RECOVERY_H_
41 #include <tf/transform_listener.h>
42 #include <ros/ros.h>
44 
51  public:
58 
65  void initialize(std::string name, tf::TransformListener* tf,
66  costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap);
67 
73  void runBehavior();
74 
75  private:
76  void clear(costmap_2d::Costmap2DROS* costmap);
77  void clearMap(boost::shared_ptr<costmap_2d::CostmapLayer> costmap, double pose_x, double pose_y);
79  std::string name_;
83  std::set<std::string> clearable_layers_;
84  };
85 };
86 #endif
void clear(costmap_2d::Costmap2DROS *costmap)
A recovery behavior that reverts the navigation stack&#39;s costmaps to the static map outside of a user-...
std::set< std::string > clearable_layers_
Layer names which will be cleared.
ClearCostmapRecovery()
Constructor, make sure to call initialize in addition to actually initialize the object.
void runBehavior()
Run the ClearCostmapRecovery recovery behavior. Reverts the costmap to the static map outside of a us...
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.
void clearMap(boost::shared_ptr< costmap_2d::CostmapLayer > costmap, double pose_x, double pose_y)


clear_costmap_recovery
Author(s): Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:44:33