#include <obstacle_layer.h>

Inheritance diagram for costmap_2d::ObstacleLayer:

[legend]

Public Member Functions
virtual void	activate ()
	Restart publishers if they've been stopped. More...

void	addStaticObservation (costmap_2d::Observation &obs, bool marking, bool clearing)

void	clearStaticObservations (bool marking, bool clearing)

virtual void	deactivate ()
	Stop publishers. More...

void	laserScanCallback (const sensor_msgs::LaserScanConstPtr &message, const boost::shared_ptr< costmap_2d::ObservationBuffer > &buffer)
	A callback to handle buffering LaserScan messages. More...

void	laserScanValidInfCallback (const sensor_msgs::LaserScanConstPtr &message, const boost::shared_ptr< ObservationBuffer > &buffer)
	A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max. More...

	ObstacleLayer ()

virtual void	onInitialize ()
	This is called at the end of initialize(). Override to implement subclass-specific initialization. More...

void	pointCloud2Callback (const sensor_msgs::PointCloud2ConstPtr &message, const boost::shared_ptr< costmap_2d::ObservationBuffer > &buffer)
	A callback to handle buffering PointCloud2 messages. More...

void	pointCloudCallback (const sensor_msgs::PointCloudConstPtr &message, const boost::shared_ptr< costmap_2d::ObservationBuffer > &buffer)
	A callback to handle buffering PointCloud messages. More...

virtual void	reset ()

virtual void	updateBounds (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)
	This is called by the LayeredCostmap to poll this plugin as to how much of the costmap it needs to update. Each layer can increase the size of this bounds. More...

virtual void	updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
	Actually update the underlying costmap, only within the bounds calculated during UpdateBounds(). More...

virtual	~ObstacleLayer ()

Public Member Functions inherited from costmap_2d::CostmapLayer
void	addExtraBounds (double mx0, double my0, double mx1, double my1)

virtual void	clearArea (int start_x, int start_y, int end_x, int end_y, bool invert_area=false)

	CostmapLayer ()

bool	isDiscretized ()

virtual void	matchSize ()
	Implement this to make this layer match the size of the parent costmap. More...

Public Member Functions inherited from costmap_2d::Layer
const std::vector< geometry_msgs::Point > &	getFootprint () const
	Convenience function for layered_costmap_->getFootprint(). More...

const std::string &	getName () const noexcept

void	initialize (LayeredCostmap parent, std::string name, tf2_ros::Buffer tf)

bool	isCurrent () const
	Check to make sure all the data in the layer is up to date. If the layer is not up to date, then it may be unsafe to plan using the data from this layer, and the planner may need to know. More...

bool	isEnabled () const noexcept
	getter if the current layer is enabled. More...

	Layer ()

virtual void	onFootprintChanged ()
	LayeredCostmap calls this whenever the footprint there changes (via LayeredCostmap::setFootprint()). Override to be notified of changes to the robot's footprint. More...

virtual	~Layer ()

Public Member Functions inherited from costmap_2d::Costmap2D
unsigned int	cellDistance (double world_dist)
	Given distance in the world... convert it to cells. More...

void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that fill a convex polygon. More...

bool	copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y)
	Turn this costmap into a copy of a window of a costmap passed in. More...

	Costmap2D ()
	Default constructor. More...

	Costmap2D (const Costmap2D &map)
	Copy constructor for a costmap, creates a copy efficiently. More...

	Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value=0)
	Constructor for a costmap. More...

unsigned char *	getCharMap () const
	Will return a pointer to the underlying unsigned char array used as the costmap. More...

unsigned char	getCost (unsigned int mx, unsigned int my) const
	Get the cost of a cell in the costmap. More...

unsigned char	getDefaultValue ()

unsigned int	getIndex (unsigned int mx, unsigned int my) const
	Given two map coordinates... compute the associated index. More...

mutex_t *	getMutex ()

double	getOriginX () const
	Accessor for the x origin of the costmap. More...

double	getOriginY () const
	Accessor for the y origin of the costmap. More...

double	getResolution () const
	Accessor for the resolution of the costmap. More...

unsigned int	getSizeInCellsX () const
	Accessor for the x size of the costmap in cells. More...

unsigned int	getSizeInCellsY () const
	Accessor for the y size of the costmap in cells. More...

double	getSizeInMetersX () const
	Accessor for the x size of the costmap in meters. More...

double	getSizeInMetersY () const
	Accessor for the y size of the costmap in meters. More...

void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const
	Given an index... compute the associated map coordinates. More...

void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const
	Convert from map coordinates to world coordinates. More...

Costmap2D &	operator= (const Costmap2D &map)
	Overloaded assignment operator. More...

void	polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that make up the outline of a polygon. More...

void	resetMap (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn)

void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y)

bool	saveMap (std::string file_name)
	Save the costmap out to a pgm file. More...

bool	setConvexPolygonCost (const std::vector< geometry_msgs::Point > &polygon, unsigned char cost_value)
	Sets the cost of a convex polygon to a desired value. More...

void	setCost (unsigned int mx, unsigned int my, unsigned char cost)
	Set the cost of a cell in the costmap. More...

void	setDefaultValue (unsigned char c)

virtual void	updateOrigin (double new_origin_x, double new_origin_y)
	Move the origin of the costmap to a new location.... keeping data when it can. More...

bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const
	Convert from world coordinates to map coordinates. More...

void	worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates, constraining results to legal bounds. More...

void	worldToMapNoBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates without checking for legal bounds. More...

virtual	~Costmap2D ()
	Destructor. More...

Protected Member Functions
bool	getClearingObservations (std::vector< costmap_2d::Observation > &clearing_observations) const
	Get the observations used to clear space. More...

bool	getMarkingObservations (std::vector< costmap_2d::Observation > &marking_observations) const
	Get the observations used to mark space. More...

virtual void	raytraceFreespace (const costmap_2d::Observation &clearing_observation, double min_x, double min_y, double max_x, double max_y)
	Clear freespace based on one observation. More...

virtual void	setupDynamicReconfigure (ros::NodeHandle &nh)

void	updateFootprint (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)

void	updateRaytraceBounds (double ox, double oy, double wx, double wy, double range, double min_x, double min_y, double max_x, double max_y)

Protected Member Functions inherited from costmap_2d::CostmapLayer
void	touch (double x, double y, double min_x, double min_y, double max_x, double max_y)

void	updateWithAddition (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithMax (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithOverwrite (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	updateWithTrueOverwrite (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

void	useExtraBounds (double min_x, double min_y, double max_x, double max_y)

Protected Member Functions inherited from costmap_2d::Costmap2D
template<typename data_type >
void	copyMapRegion (data_type source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, unsigned int sm_size_x, data_type dest_map, unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int region_size_y)
	Copy a region of a source map into a destination map. More...

virtual void	deleteMaps ()
	Deletes the costmap, static_map, and markers data structures. More...

virtual void	initMaps (unsigned int size_x, unsigned int size_y)
	Initializes the costmap, static_map, and markers data structures. More...

template<class ActionType >
void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX)
	Raytrace a line and apply some action at each step. More...

virtual void	resetMaps ()
	Resets the costmap and static_map to be unknown space. More...

Protected Attributes
std::vector< boost::shared_ptr< costmap_2d::ObservationBuffer > >	clearing_buffers_
	Used to store observation buffers used for clearing obstacles. More...

int	combination_method_

dynamic_reconfigure::Server< costmap_2d::ObstaclePluginConfig > *	dsrv_

bool	footprint_clearing_enabled_

std::string	global_frame_
	The global frame for the costmap. More...

std::vector< boost::shared_ptr< costmap_2d::ObservationBuffer > >	marking_buffers_
	Used to store observation buffers used for marking obstacles. More...

double	max_obstacle_height_
	Max Obstacle Height. More...

std::vector< boost::shared_ptr< costmap_2d::ObservationBuffer > >	observation_buffers_
	Used to store observations from various sensors. More...

std::vector< boost::shared_ptr< tf2_ros::MessageFilterBase > >	observation_notifiers_
	Used to make sure that transforms are available for each sensor. More...

std::vector< boost::shared_ptr< message_filters::SubscriberBase > >	observation_subscribers_
	Used for the observation message filters. More...

laser_geometry::LaserProjection	projector_
	Used to project laser scans into point clouds. More...

bool	rolling_window_

std::vector< costmap_2d::Observation >	static_clearing_observations_

std::vector< costmap_2d::Observation >	static_marking_observations_

std::vector< geometry_msgs::Point >	transformed_footprint_

Protected Attributes inherited from costmap_2d::CostmapLayer
bool	has_extra_bounds_

Protected Attributes inherited from costmap_2d::Layer
bool	current_

bool	enabled_

LayeredCostmap *	layered_costmap_

std::string	name_

tf2_ros::Buffer *	tf_

Protected Attributes inherited from costmap_2d::Costmap2D
unsigned char *	costmap_

unsigned char	default_value_

double	origin_x_

double	origin_y_

double	resolution_

unsigned int	size_x_

unsigned int	size_y_

Private Member Functions
void	reconfigureCB (costmap_2d::ObstaclePluginConfig &config, uint32_t level)

Additional Inherited Members
Public Types inherited from costmap_2d::Costmap2D
typedef boost::recursive_mutex	mutex_t

Detailed Description

Definition at line 98 of file obstacle_layer.h.

Constructor & Destructor Documentation

◆ ObstacleLayer()

costmap_2d::ObstacleLayer::ObstacleLayer ( )

inline

Definition at line 137 of file obstacle_layer.h.

◆ ~ObstacleLayer()

costmap_2d::ObstacleLayer::~ObstacleLayer ( )

virtual

Definition at line 229 of file obstacle_layer.cpp.

Member Function Documentation

◆ activate()

void costmap_2d::ObstacleLayer::activate ( )

virtual

Restart publishers if they've been stopped.

Reimplemented from costmap_2d::Layer.

Definition at line 580 of file obstacle_layer.cpp.

◆ addStaticObservation()

void costmap_2d::ObstacleLayer::addStaticObservation	(	costmap_2d::Observation &	obs,
		bool	marking,
		bool	clearing
	)

Definition at line 449 of file obstacle_layer.cpp.

◆ clearStaticObservations()

void costmap_2d::ObstacleLayer::clearStaticObservations	(	bool	marking,
		bool	clearing
	)

Definition at line 457 of file obstacle_layer.cpp.

◆ deactivate()

void costmap_2d::ObstacleLayer::deactivate ( )

virtual

Stop publishers.

Reimplemented from costmap_2d::Layer.

Definition at line 595 of file obstacle_layer.cpp.

◆ getClearingObservations()

bool costmap_2d::ObstacleLayer::getClearingObservations ( std::vector< costmap_2d::Observation > & clearing_observations ) const

protected

Get the observations used to clear space.

Parameters

clearing_observations A reference to a vector that will be populated with the observations

Returns: True if all the observation buffers are current, false otherwise

Definition at line 481 of file obstacle_layer.cpp.

◆ getMarkingObservations()

bool costmap_2d::ObstacleLayer::getMarkingObservations ( std::vector< costmap_2d::Observation > & marking_observations ) const

protected

Get the observations used to mark space.

Parameters

marking_observations A reference to a vector that will be populated with the observations

Returns: True if all the observation buffers are current, false otherwise

Definition at line 465 of file obstacle_layer.cpp.

◆ laserScanCallback()

void costmap_2d::ObstacleLayer::laserScanCallback	(	const sensor_msgs::LaserScanConstPtr &	message,
		const boost::shared_ptr< costmap_2d::ObservationBuffer > &	buffer
	)

A callback to handle buffering LaserScan messages.

Parameters

message	The message returned from a message notifier
buffer	A pointer to the observation buffer to update

Definition at line 242 of file obstacle_layer.cpp.

◆ laserScanValidInfCallback()

void costmap_2d::ObstacleLayer::laserScanValidInfCallback	(	const sensor_msgs::LaserScanConstPtr &	message,
		const boost::shared_ptr< ObservationBuffer > &	buffer
	)

A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max.

Parameters

message	The message returned from a message notifier
buffer	A pointer to the observation buffer to update

Definition at line 272 of file obstacle_layer.cpp.

◆ onInitialize()

void costmap_2d::ObstacleLayer::onInitialize ( )

virtual

This is called at the end of initialize(). Override to implement subclass-specific initialization.

tf_, name_, and layered_costmap_ will all be set already when this is called.

Reimplemented from costmap_2d::Layer.

Reimplemented in costmap_2d::VoxelLayer.

Definition at line 57 of file obstacle_layer.cpp.

◆ pointCloud2Callback()

void costmap_2d::ObstacleLayer::pointCloud2Callback	(	const sensor_msgs::PointCloud2ConstPtr &	message,
		const boost::shared_ptr< costmap_2d::ObservationBuffer > &	buffer
	)

A callback to handle buffering PointCloud2 messages.

Parameters

message	The message returned from a message notifier
buffer	A pointer to the observation buffer to update

Definition at line 331 of file obstacle_layer.cpp.

◆ pointCloudCallback()

void costmap_2d::ObstacleLayer::pointCloudCallback	(	const sensor_msgs::PointCloudConstPtr &	message,
		const boost::shared_ptr< costmap_2d::ObservationBuffer > &	buffer
	)

A callback to handle buffering PointCloud messages.

Parameters

message	The message returned from a message notifier
buffer	A pointer to the observation buffer to update

Definition at line 314 of file obstacle_layer.cpp.

◆ raytraceFreespace()

void costmap_2d::ObstacleLayer::raytraceFreespace	(	const costmap_2d::Observation &	clearing_observation,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

protectedvirtual

Clear freespace based on one observation.

Parameters

clearing_observation	The observation used to raytrace
min_x
min_y
max_x
max_y

Reimplemented in costmap_2d::VoxelLayer.

Definition at line 497 of file obstacle_layer.cpp.

◆ reconfigureCB()

void costmap_2d::ObstacleLayer::reconfigureCB	(	costmap_2d::ObstaclePluginConfig &	config,
		uint32_t	level
	)

private

Definition at line 234 of file obstacle_layer.cpp.

◆ reset()

void costmap_2d::ObstacleLayer::reset ( )

virtual

Reimplemented from costmap_2d::Layer.

Reimplemented in costmap_2d::VoxelLayer.

Definition at line 614 of file obstacle_layer.cpp.

◆ setupDynamicReconfigure()

void costmap_2d::ObstacleLayer::setupDynamicReconfigure ( ros::NodeHandle & nh )

protectedvirtual

Reimplemented in costmap_2d::VoxelLayer.

Definition at line 221 of file obstacle_layer.cpp.

◆ updateBounds()

void costmap_2d::ObstacleLayer::updateBounds	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

virtual

This is called by the LayeredCostmap to poll this plugin as to how much of the costmap it needs to update. Each layer can increase the size of this bounds.

For more details, see "Layered Costmaps for Context-Sensitive Navigation", by Lu et. Al, IROS 2014.

Reimplemented from costmap_2d::Layer.

Reimplemented in costmap_2d::VoxelLayer.

Definition at line 340 of file obstacle_layer.cpp.

◆ updateCosts()

void costmap_2d::ObstacleLayer::updateCosts	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)

virtual

Actually update the underlying costmap, only within the bounds calculated during UpdateBounds().

Reimplemented from costmap_2d::Layer.

Definition at line 429 of file obstacle_layer.cpp.

◆ updateFootprint()

void costmap_2d::ObstacleLayer::updateFootprint	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

protected

Definition at line 417 of file obstacle_layer.cpp.

◆ updateRaytraceBounds()

void costmap_2d::ObstacleLayer::updateRaytraceBounds	(	double	ox,
		double	oy,
		double	wx,
		double	wy,
		double	range,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

protected

Definition at line 604 of file obstacle_layer.cpp.

Member Data Documentation

◆ clearing_buffers_

std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > costmap_2d::ObstacleLayer::clearing_buffers_

protected

Used to store observation buffers used for clearing obstacles.

Definition at line 233 of file obstacle_layer.h.

◆ combination_method_

int costmap_2d::ObstacleLayer::combination_method_

protected

Definition at line 241 of file obstacle_layer.h.

◆ dsrv_

dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig>* costmap_2d::ObstacleLayer::dsrv_

protected

Definition at line 239 of file obstacle_layer.h.

◆ footprint_clearing_enabled_

bool costmap_2d::ObstacleLayer::footprint_clearing_enabled_

protected

Definition at line 220 of file obstacle_layer.h.

◆ global_frame_

std::string costmap_2d::ObstacleLayer::global_frame_

protected

The global frame for the costmap.

Definition at line 224 of file obstacle_layer.h.

◆ marking_buffers_

std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > costmap_2d::ObstacleLayer::marking_buffers_

protected

Used to store observation buffers used for marking obstacles.

Definition at line 232 of file obstacle_layer.h.

◆ max_obstacle_height_

double costmap_2d::ObstacleLayer::max_obstacle_height_

protected

Max Obstacle Height.

Definition at line 225 of file obstacle_layer.h.

◆ observation_buffers_

std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > costmap_2d::ObstacleLayer::observation_buffers_

protected

Used to store observations from various sensors.

Definition at line 231 of file obstacle_layer.h.

◆ observation_notifiers_

std::vector<boost::shared_ptr<tf2_ros::MessageFilterBase> > costmap_2d::ObstacleLayer::observation_notifiers_

protected

Used to make sure that transforms are available for each sensor.

Definition at line 230 of file obstacle_layer.h.

◆ observation_subscribers_

std::vector<boost::shared_ptr<message_filters::SubscriberBase> > costmap_2d::ObstacleLayer::observation_subscribers_

protected

Used for the observation message filters.

Definition at line 229 of file obstacle_layer.h.

◆ projector_

laser_geometry::LaserProjection costmap_2d::ObstacleLayer::projector_

protected

Used to project laser scans into point clouds.

Definition at line 227 of file obstacle_layer.h.

◆ rolling_window_

bool costmap_2d::ObstacleLayer::rolling_window_

protected

Definition at line 238 of file obstacle_layer.h.

◆ static_clearing_observations_

std::vector<costmap_2d::Observation> costmap_2d::ObstacleLayer::static_clearing_observations_

protected

Definition at line 236 of file obstacle_layer.h.

◆ static_marking_observations_

std::vector<costmap_2d::Observation> costmap_2d::ObstacleLayer::static_marking_observations_

protected

Definition at line 236 of file obstacle_layer.h.

◆ transformed_footprint_

std::vector<geometry_msgs::Point> costmap_2d::ObstacleLayer::transformed_footprint_

protected

Definition at line 219 of file obstacle_layer.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ObstacleLayer()

◆ ~ObstacleLayer()

Member Function Documentation

◆ activate()

◆ addStaticObservation()

◆ clearStaticObservations()

◆ deactivate()

◆ getClearingObservations()

◆ getMarkingObservations()

◆ laserScanCallback()

◆ laserScanValidInfCallback()

◆ onInitialize()

◆ pointCloud2Callback()

◆ pointCloudCallback()

◆ raytraceFreespace()

◆ reconfigureCB()

◆ reset()

◆ setupDynamicReconfigure()

◆ updateBounds()

◆ updateCosts()

◆ updateFootprint()

◆ updateRaytraceBounds()

Member Data Documentation

◆ clearing_buffers_

◆ combination_method_

◆ dsrv_

◆ footprint_clearing_enabled_

◆ global_frame_

◆ marking_buffers_

◆ max_obstacle_height_

◆ observation_buffers_

◆ observation_notifiers_

◆ observation_subscribers_

◆ projector_

◆ rolling_window_

◆ static_clearing_observations_

◆ static_marking_observations_

◆ transformed_footprint_