Extension of Costmap Queue where distances are limited to a given distance from source cells. More...

Inheritance diagram for costmap_queue::LimitedCostmapQueue:

Public Member Functions
int	getMaxDistance () const override
	Get the maximum x or y distance we'll need to calculate the distance between. More...

	LimitedCostmapQueue (nav_core2::Costmap &costmap, const int cell_distance_limit)
	Constructor with limit as an integer number of cells. More...

bool	validCellToQueue (const CellData &cell) override
	Check to see if we should add this cell to the queue. Always true unless overridden. More...

Public Member Functions inherited from costmap_queue::CostmapQueue
	CostmapQueue (nav_core2::Costmap &costmap, bool manhattan=false)
	constructor More...

void	enqueueCell (unsigned int x, unsigned int y)
	Add a cell the queue. More...

CellData	getNextCell ()
	Get the next cell to examine, and enqueue its neighbors as needed. More...

void	reset () override
	Clear the queue. More...

Public Member Functions inherited from costmap_queue::MapBasedQueue< CellData >
void	enqueue (const double priority, CellDataitem)
	Add a new item to the queue with a set priority. More...

CellData &	front ()
	Return the item at the front of the queue. More...

bool	isEmpty ()
	Check to see if there is anything in the queue. More...

	MapBasedQueue (bool reset_bins=true)
	Default Constructor. More...

void	pop ()
	Remove (and destroy) the item at the front of the queue. More...

Protected Attributes
int	max_distance_

Protected Attributes inherited from costmap_queue::CostmapQueue
std::vector< std::vector< double > >	cached_distances_

int	cached_max_distance_

nav_core2::Costmap &	costmap_

bool	manhattan_

nav_grid::VectorNavGrid< unsigned char >	seen_

Protected Attributes inherited from costmap_queue::MapBasedQueue< CellData >
ItemMap	item_bins_

unsigned int	item_count_

ItemMapIterator	iter_

ItemMapIterator	last_insert_iter_

bool	reset_bins_

Additional Inherited Members
Public Types inherited from costmap_queue::CostmapQueue
using	Ptr = std::shared_ptr< CostmapQueue >
	convenience definition for a pointer More...

Protected Types inherited from costmap_queue::MapBasedQueue< CellData >
using	ItemMap = std::map< double, std::vector< CellData >>

using	ItemMapIterator = typename ItemMap::iterator

Protected Member Functions inherited from costmap_queue::CostmapQueue
void	computeCache ()
	Compute the cached distances. More...

double	distanceLookup (const unsigned int cur_x, const unsigned int cur_y, const unsigned int src_x, const unsigned int src_y)
	Lookup pre-computed distances. More...

void	enqueueCell (unsigned int cur_x, unsigned int cur_y, unsigned int src_x, unsigned int src_y)
	Enqueue a cell with the given coordinates and the given source cell. More...

Detailed Description

Extension of Costmap Queue where distances are limited to a given distance from source cells.

Definition at line 47 of file limited_costmap_queue.h.

Constructor & Destructor Documentation

costmap_queue::LimitedCostmapQueue::LimitedCostmapQueue	(	nav_core2::Costmap &	costmap,
		const int	cell_distance_limit
	)

Constructor with limit as an integer number of cells.

Definition at line 39 of file limited_costmap_queue.cpp.

int costmap_queue::LimitedCostmapQueue::getMaxDistance ( ) const

overridevirtual

Get the maximum x or y distance we'll need to calculate the distance between.

Definition at line 46 of file limited_costmap_queue.cpp.

bool costmap_queue::LimitedCostmapQueue::validCellToQueue ( const CellData & cell )

overridevirtual

Check to see if we should add this cell to the queue. Always true unless overridden.

Parameters

cell	The cell to check

Definition at line 51 of file limited_costmap_queue.cpp.

int costmap_queue::LimitedCostmapQueue::max_distance_

protected

Definition at line 57 of file limited_costmap_queue.h.

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