Public Member Functions | Private Member Functions | Private Attributes | List of all members
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:
Inheritance graph
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Public Member Functions

 ClearCostmapRecovery ()
 Constructor, make sure to call initialize in addition to actually initialize the object. More...
 
void initialize (std::string name, tf2_ros::Buffer *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::string affected_maps_
 clear only local, global or both costmaps More...
 
std::set< std::string > clearable_layers_
 Layer names which will be cleared. More...
 
bool force_updating_
 force costmap update after clearing, so we don't need to wait for update thread More...
 
costmap_2d::Costmap2DROSglobal_costmap_
 
bool initialized_
 
bool invert_area_to_clear_
 
costmap_2d::Costmap2DROSlocal_costmap_
 
std::string name_
 
double reset_distance_
 
tf2_ros::Buffertf_
 

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 84 of file clear_costmap_recovery.h.

Constructor & Destructor Documentation

◆ ClearCostmapRecovery()

clear_costmap_recovery::ClearCostmapRecovery::ClearCostmapRecovery ( )

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

Parameters

Definition at line 48 of file clear_costmap_recovery.cpp.

Member Function Documentation

◆ clear()

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

Definition at line 131 of file clear_costmap_recovery.cpp.

◆ clearMap()

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

Definition at line 168 of file clear_costmap_recovery.cpp.

◆ initialize()

void clear_costmap_recovery::ClearCostmapRecovery::initialize ( std::string  name,
tf2_ros::Buffer tf,
costmap_2d::Costmap2DROS global_costmap,
costmap_2d::Costmap2DROS local_costmap 
)
virtual

Initialization function for the ClearCostmapRecovery recovery behavior.

Parameters
tfA pointer to a transform listener
global_costmapA pointer to the global_costmap used by the navigation stack
local_costmapA pointer to the local_costmap used by the navigation stack

Implements nav_core::RecoveryBehavior.

Definition at line 51 of file clear_costmap_recovery.cpp.

◆ runBehavior()

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 89 of file clear_costmap_recovery.cpp.

Member Data Documentation

◆ affected_maps_

std::string clear_costmap_recovery::ClearCostmapRecovery::affected_maps_
private

clear only local, global or both costmaps

Definition at line 119 of file clear_costmap_recovery.h.

◆ clearable_layers_

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

Layer names which will be cleared.

Definition at line 120 of file clear_costmap_recovery.h.

◆ force_updating_

bool clear_costmap_recovery::ClearCostmapRecovery::force_updating_
private

force costmap update after clearing, so we don't need to wait for update thread

Definition at line 116 of file clear_costmap_recovery.h.

◆ global_costmap_

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

Definition at line 112 of file clear_costmap_recovery.h.

◆ initialized_

bool clear_costmap_recovery::ClearCostmapRecovery::initialized_
private

Definition at line 115 of file clear_costmap_recovery.h.

◆ invert_area_to_clear_

bool clear_costmap_recovery::ClearCostmapRecovery::invert_area_to_clear_
private

Definition at line 118 of file clear_costmap_recovery.h.

◆ local_costmap_

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

Definition at line 112 of file clear_costmap_recovery.h.

◆ name_

std::string clear_costmap_recovery::ClearCostmapRecovery::name_
private

Definition at line 113 of file clear_costmap_recovery.h.

◆ reset_distance_

double clear_costmap_recovery::ClearCostmapRecovery::reset_distance_
private

Definition at line 117 of file clear_costmap_recovery.h.

◆ tf_

tf2_ros::Buffer* clear_costmap_recovery::ClearCostmapRecovery::tf_
private

Definition at line 114 of file clear_costmap_recovery.h.


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


clear_costmap_recovery
Author(s): Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Sat Dec 3 2022 03:49:39