static_layer.h
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35  * Author: Eitan Marder-Eppstein
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38 #ifndef COSTMAP_2D_STATIC_LAYER_H_
39 #define COSTMAP_2D_STATIC_LAYER_H_
40 
41 #include <ros/ros.h>
44 #include <costmap_2d/GenericPluginConfig.h>
45 #include <dynamic_reconfigure/server.h>
46 #include <nav_msgs/OccupancyGrid.h>
47 #include <map_msgs/OccupancyGridUpdate.h>
49 
50 namespace costmap_2d
51 {
52 
53 class StaticLayer : public CostmapLayer
54 {
55 public:
56  StaticLayer();
57  virtual ~StaticLayer();
58  virtual void onInitialize();
59  virtual void activate();
60  virtual void deactivate();
61  virtual void reset();
62 
63  virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
64  double* max_x, double* max_y);
65  virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
66 
67  virtual void matchSize();
68 
69 private:
76  void incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map);
77  void incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update);
78  void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level);
79 
80  unsigned char interpretValue(unsigned char value);
81 
82  std::string global_frame_;
83  std::string map_frame_;
85  bool map_received_;
86  bool has_updated_data_;
87  unsigned int x_, y_, width_, height_;
90  bool first_map_only_;
91  bool trinary_costmap_;
93 
95 
96  dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> *dsrv_;
97 };
98 
99 } // namespace costmap_2d
100 
101 #endif // COSTMAP_2D_STATIC_LAYER_H_
costmap_2d::StaticLayer::lethal_threshold_
unsigned char lethal_threshold_
Definition: static_layer.h:166
costmap_2d::StaticLayer::map_received_
bool map_received_
Definition: static_layer.h:157
costmap_2d::StaticLayer::reconfigureCB
void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level)
Definition: static_layer.cpp:126
costmap_2d::StaticLayer::use_maximum_
bool use_maximum_
Definition: static_layer.h:161
costmap_layer.h
costmap_2d::StaticLayer::updateBounds
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 up...
Definition: static_layer.cpp:270
costmap_2d::StaticLayer::map_sub_
ros::Subscriber map_sub_
Definition: static_layer.h:164
costmap_2d::StaticLayer::subscribe_to_updates_
bool subscribe_to_updates_
frame that map is located in
Definition: static_layer.h:156
costmap_2d::StaticLayer::width_
unsigned int width_
Definition: static_layer.h:159
ros.h
costmap_2d::StaticLayer::has_updated_data_
bool has_updated_data_
Definition: static_layer.h:158
costmap_2d::StaticLayer::activate
virtual void activate()
Restart publishers if they've been stopped.
Definition: static_layer.cpp:246
layered_costmap.h
costmap_2d::StaticLayer::interpretValue
unsigned char interpretValue(unsigned char value)
Definition: static_layer.cpp:150
costmap_2d::Costmap2D
A 2D costmap provides a mapping between points in the world and their associated "costs".
Definition: costmap_2d.h:96
costmap_2d::StaticLayer::map_update_sub_
ros::Subscriber map_update_sub_
Definition: static_layer.h:164
costmap_2d::StaticLayer::onInitialize
virtual void onInitialize()
This is called at the end of initialize(). Override to implement subclass-specific initialization.
Definition: static_layer.cpp:62
costmap_2d::StaticLayer::global_frame_
std::string global_frame_
The global frame for the costmap.
Definition: static_layer.h:154
costmap_2d::StaticLayer::track_unknown_space_
bool track_unknown_space_
Definition: static_layer.h:160
costmap_2d::StaticLayer::map_frame_
std::string map_frame_
Definition: static_layer.h:155
subscriber.h
costmap_2d::StaticLayer::matchSize
virtual void matchSize()
Implement this to make this layer match the size of the parent costmap.
Definition: static_layer.cpp:138
costmap_2d::StaticLayer::deactivate
virtual void deactivate()
Stop publishers.
Definition: static_layer.cpp:251
costmap_2d::StaticLayer::trinary_costmap_
bool trinary_costmap_
Definition: static_layer.h:163
costmap_2d::StaticLayer::y_
unsigned int y_
Definition: static_layer.h:159
costmap_2d::StaticLayer::x_
unsigned int x_
Definition: static_layer.h:159
costmap_2d::StaticLayer::first_map_only_
bool first_map_only_
Store the first static map and reuse it on reinitializing.
Definition: static_layer.h:162
costmap_2d::StaticLayer::reset
virtual void reset()
Definition: static_layer.cpp:258
costmap_2d::StaticLayer::incomingUpdate
void incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr &update)
Definition: static_layer.cpp:227
costmap_2d::StaticLayer::~StaticLayer
virtual ~StaticLayer()
Definition: static_layer.cpp:56
costmap_2d::StaticLayer::StaticLayer
StaticLayer()
Definition: static_layer.cpp:54
costmap_2d
Definition: array_parser.h:37
costmap_2d::StaticLayer::dsrv_
dynamic_reconfigure::Server< costmap_2d::GenericPluginConfig > * dsrv_
Definition: static_layer.h:168
costmap_2d::StaticLayer::updateCosts
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().
Definition: static_layer.cpp:294
costmap_2d::StaticLayer::unknown_cost_value_
unsigned char unknown_cost_value_
Definition: static_layer.h:166
ros::Subscriber
costmap_2d::StaticLayer::height_
unsigned int height_
Definition: static_layer.h:159
costmap_2d::StaticLayer::incomingMap
void incomingMap(const nav_msgs::OccupancyGridConstPtr &new_map)
Callback to update the costmap's map from the map_server.
Definition: static_layer.cpp:166


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Mon Mar 6 2023 03:50:17