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:

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::Costmap2DROS *	global_costmap_
bool	initialized_
bool	invert_area_to_clear_
costmap_2d::Costmap2DROS *	local_costmap_
std::string	name_
double	reset_distance_
tf2_ros::Buffer *	tf_

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

tf	A pointer to a transform listener
global_costmap	A pointer to the global_costmap used by the navigation stack
local_costmap	A 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.h
• clear_costmap_recovery.cpp