Classes | Typedefs | Functions
mbf_costmap_nav Namespace Reference

Classes

struct  Cell
 
class  CostmapControllerExecution
 The CostmapControllerExecution binds a local costmap to the AbstractControllerExecution and uses the nav_core/BaseLocalPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...
 
class  CostmapNavigationServer
 The CostmapNavigationServer makes Move Base Flex backwards compatible to the old move_base. It combines the execution classes which use the nav_core/BaseLocalPlanner, nav_core/BaseCostmapPlanner and the nav_core/RecoveryBehavior base classes as plugin interfaces. These plugin interface are the same for the old move_base. More...
 
class  CostmapPlannerExecution
 The CostmapPlannerExecution binds a global costmap to the AbstractPlannerExecution and uses the nav_core/BaseCostmapPlanner class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...
 
class  CostmapRecoveryExecution
 The CostmapRecoveryExecution binds a local and a global costmap to the AbstractRecoveryExecution and uses the nav_core/CostmapRecovery class as base plugin interface. This class makes move_base_flex compatible to the old move_base. More...
 
class  CostmapWrapper
 The CostmapWrapper class manages access to a costmap by locking/unlocking its mutex and handles (de)activation. More...
 
class  FootprintHelper
 

Typedefs

typedef boost::shared_ptr< dynamic_reconfigure::Server< mbf_costmap_nav::MoveBaseFlexConfig > > DynamicReconfigureServerCostmapNav
 
typedef boost::unordered_map< std::string, CostmapWrapper::PtrStringToMap
 A mapping from a string to a map-ptr. More...
 

Functions

static const std::vector< Cell > & clearAndReturn (std::vector< Cell > &_cells)
 Helper function which clears and returns the input. More...
 
template<typename Key , typename Value >
const Value & findWithDefault (const boost::unordered_map< Key, Value > &map, const Key &key, const Value &default_value)
 
static std::string getStringElement (const XmlRpc::XmlRpcValue &value, const std::string &tag)
 Returns a string element with the tag from value. More...
 
StringToMap loadStringToMaps (const std::string &resource, const ros::NodeHandle &nh, const CostmapWrapper::Ptr &global_costmap_ptr, const CostmapWrapper::Ptr &local_costmap_ptr)
 Non-throwing version of loadStringToMapsImpl. More...
 
StringToMap loadStringToMapsImpl (const std::string &resource, const ros::NodeHandle &nh, const CostmapWrapper::Ptr &global_costmap_ptr, const CostmapWrapper::Ptr &local_costmap_ptr)
 Returns the mapping from 'names' to 'costmaps' for the defined resource. More...
 

Typedef Documentation

◆ DynamicReconfigureServerCostmapNav

typedef boost::shared_ptr<dynamic_reconfigure::Server<mbf_costmap_nav::MoveBaseFlexConfig> > mbf_costmap_nav::DynamicReconfigureServerCostmapNav

Definition at line 75 of file costmap_navigation_server.h.

◆ StringToMap

typedef boost::unordered_map<std::string, CostmapWrapper::Ptr> mbf_costmap_nav::StringToMap

A mapping from a string to a map-ptr.

Definition at line 78 of file costmap_navigation_server.h.

Function Documentation

◆ clearAndReturn()

static const std::vector<Cell>& mbf_costmap_nav::clearAndReturn ( std::vector< Cell > &  _cells)
static

Helper function which clears and returns the input.

Definition at line 207 of file footprint_helper.cpp.

◆ findWithDefault()

template<typename Key , typename Value >
const Value& mbf_costmap_nav::findWithDefault ( const boost::unordered_map< Key, Value > &  map,
const Key &  key,
const Value &  default_value 
)

Definition at line 208 of file costmap_navigation_server.cpp.

◆ getStringElement()

static std::string mbf_costmap_nav::getStringElement ( const XmlRpc::XmlRpcValue value,
const std::string &  tag 
)
static

Returns a string element with the tag from value.

Exceptions
XmlRpc::XmlRpcExceptionif the tag is missing.

Definition at line 59 of file costmap_navigation_server.cpp.

◆ loadStringToMaps()

StringToMap mbf_costmap_nav::loadStringToMaps ( const std::string &  resource,
const ros::NodeHandle nh,
const CostmapWrapper::Ptr global_costmap_ptr,
const CostmapWrapper::Ptr local_costmap_ptr 
)

Non-throwing version of loadStringToMapsImpl.

Parameters
resourceThe name of the resource (e.g 'planners').
nhThe private node handle containing the given resource.
global_costmap_ptrPtr to the global costmap.
local_costmap_ptrPtr to the local costmap.

Definition at line 137 of file costmap_navigation_server.cpp.

◆ loadStringToMapsImpl()

StringToMap mbf_costmap_nav::loadStringToMapsImpl ( const std::string &  resource,
const ros::NodeHandle nh,
const CostmapWrapper::Ptr global_costmap_ptr,
const CostmapWrapper::Ptr local_costmap_ptr 
)

Returns the mapping from 'names' to 'costmaps' for the defined resource.

Parameters
resourceThe name of the resource (e.g 'planners').
nhThe private node handle containing the given resource.
global_costmap_ptrPtr to the global costmap.
local_costmap_ptrPtr to the local costmap.

Definition at line 77 of file costmap_navigation_server.cpp.



mbf_costmap_nav
Author(s): Sebastian Pütz
autogenerated on Wed Mar 2 2022 00:33:55