An instantiation of the Costmap class that simply populates the grid from an image. More...

Inheritance diagram for global_planner_tests::EasyCostmap:

Public Member Functions
	EasyCostmap (const std::string &filename, const double resolution=0.1, const bool origin_at_center=false)
	Constructor, loads directly from an image filename. More...

	EasyCostmap ()
	Empty constructor. You need to call loadMapFromFile afterward. More...

void	loadMapFromFile (const std::string &filename, const double resolution=0.1, const bool origin_at_center=false)

void	reset () override

Public Member Functions inherited from nav_core2::BasicCostmap
unsigned int	getIndex (const unsigned int x, const unsigned int y) const

mutex_t *	getMutex () override

unsigned char	getValue (const unsigned int x, const unsigned int y) const override

void	reset () override

void	setInfo (const nav_grid::NavGridInfo &new_info) override

void	setValue (const unsigned int x, const unsigned int y, const unsigned char &value) override

Public Member Functions inherited from nav_core2::Costmap
virtual bool	canTrackChanges ()

virtual UIntBounds	getChangeBounds (const std::string &ns)

unsigned char	getCost (const nav_grid::Index &index)

unsigned char	getCost (const unsigned int x, const unsigned int y)

virtual void	initialize (const ros::NodeHandle &parent, const std::string &name, TFListenerPtr tf)

void	setCost (const unsigned int x, const unsigned int y, const unsigned char cost)

void	setCost (const nav_grid::Index &index, const unsigned char cost)

virtual void	update ()

virtual	~Costmap ()

Protected Attributes
nav_msgs::OccupancyGrid	original_grid_

Protected Attributes inherited from nav_core2::BasicCostmap
std::vector< unsigned char >	data_

mutex_t	my_mutex_

Additional Inherited Members
Public Types inherited from nav_core2::Costmap
typedef boost::recursive_mutex	mutex_t

typedef std::shared_ptr< Costmap >	Ptr

Static Public Attributes inherited from nav_core2::Costmap
static const unsigned char	FREE_SPACE

static const unsigned char	INSCRIBED_INFLATED_OBSTACLE

static const unsigned char	LETHAL_OBSTACLE

static const unsigned char	NO_INFORMATION

Detailed Description

An instantiation of the Costmap class that simply populates the grid from an image.

Definition at line 48 of file easy_costmap.h.

Constructor & Destructor Documentation

global_planner_tests::EasyCostmap::EasyCostmap	(	const std::string &	filename,
		const double	resolution = `0.1`,
		const bool	origin_at_center = `false`
	)

explicit

Constructor, loads directly from an image filename.

Parameters

filename	The filename for the image to load
resolution	Rather than loading from a yaml file, you can specify the resolution here
origin_at_center	If true, will put the origin of the map at the center, rather than the bottom left

Definition at line 45 of file easy_costmap.cpp.

global_planner_tests::EasyCostmap::EasyCostmap ( )

inline

Empty constructor. You need to call loadMapFromFile afterward.

Definition at line 62 of file easy_costmap.h.

void global_planner_tests::EasyCostmap::loadMapFromFile	(	const std::string &	filename,
		const double	resolution = `0.1`,
		const bool	origin_at_center = `false`
	)

Definition at line 50 of file easy_costmap.cpp.

void global_planner_tests::EasyCostmap::reset ( )

override

Definition at line 66 of file easy_costmap.cpp.

nav_msgs::OccupancyGrid global_planner_tests::EasyCostmap::original_grid_

protected

Definition at line 71 of file easy_costmap.h.

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