Public Member Functions | Private Member Functions | Private Attributes
CostMapCalculation Class Reference

#include <hector_costmap.h>

List of all members.

Public Member Functions

void callbackElevationMap (const hector_elevation_msgs::ElevationGridConstPtr &elevation_map_msg)
 callbackElevationMap get called if a new elevation map is available
void callbackGridMap (const nav_msgs::OccupancyGridConstPtr &grid_map_msg)
 callbackGridMap get called if a new 2D grid map is available
void callbackPointCloud (const sensor_msgs::PointCloud2ConstPtr &cloud_msg)
 callbackOctoMap get called if a new octo map is available
 CostMapCalculation ()
 Default constructor.
void dynRecParamCallback (hector_costmap::CostMapCalculationConfig &config, uint32_t level)
 dynRecParamCallback This function get called if new parameters has been set with the dynamic reconfigure dialog
void sysMessageCallback (const std_msgs::String &string)
 sysMessageCallback This function listen to system messages
void timerCallback (const ros::TimerEvent &event)
 timerCallback publishes periodically a new 2D cost map
void updateMapParamsCallback (const nav_msgs::MapMetaData &map_meta_data)
 updateMapParamsCallback updates the map meta information if someone has changed it
 ~CostMapCalculation ()
 Default deconstructor.

Private Member Functions

bool calculateCostMap (char map_level)
 This function fuses the elevation and grid map und calculates the 2d cost map.
bool calculateCostMap_old (char map_level)
 This function fuses the elevation and grid map und calculates the 2d cost map.
bool computeWindowIndices (ros::Time time, double update_radius)
 Computes the indices for the bounding box thats get updated.

Private Attributes

bool allow_elevation_map_to_clear_occupied_cells
nav_msgs::OccupancyGrid cloud_cost_map
nav_msgs::OccupancyGrid cost_map
std::string cost_map_topic
double costmap_pub_freq
dynamic_reconfigure::Server
< hector_costmap::CostMapCalculationConfig > 
dyn_rec_server_
nav_msgs::OccupancyGrid elevation_cost_map
cv::Mat elevation_cost_map_
cv::Mat elevation_map_
cv::Mat elevation_map_filtered
std::string elevation_map_topic
int elevation_zero_level
cv::Mat grid_map_
nav_msgs::OccupancyGridConstPtr grid_map_msg_
std::string grid_map_topic
double grid_res_z
double initial_free_cells_radius
tf::TransformListener listener
std::string local_transform_frame_id
std::string map_frame_id
int max_clear_size
double max_delta_elevation
Eigen::Vector2i max_index
Eigen::Vector2i min_index
ros::NodeHandle nHandle
ros::NodeHandle pnHandle
std::string point_cloud_topic
ros::Publisher pub_cloud_slice
ros::Publisher pub_cost_map
bool received_elevation_map
bool received_grid_map
bool received_point_cloud
pcl::PointCloud< pcl::PointXYZ >
::Ptr 
sliced_cloud
double slize_max_height
double slize_min_height
ros::Subscriber sub_elevation_map
ros::Subscriber sub_grid_map
ros::Subscriber sub_map_info
ros::Subscriber sub_point_cloud
ros::Subscriber sub_sysMessage
std::string sys_msg_topic
ros::Timer timer
double update_radius_world
bool use_cloud_map
bool use_elevation_map
bool use_grid_map
HectorMapTools::CoordinateTransformer
< float > 
world_map_transform

Detailed Description

Definition at line 27 of file hector_costmap.h.


Constructor & Destructor Documentation

Default constructor.

Definition at line 21 of file hector_costmap.cpp.

Default deconstructor.

Definition at line 113 of file hector_costmap.cpp.


Member Function Documentation

bool CostMapCalculation::calculateCostMap ( char  map_level) [private]

This function fuses the elevation and grid map und calculates the 2d cost map.

Parameters:
[in]map_levelset the method to calculate the 2d cost map (binary encoded)
Return values:
trueif everything went fine, otherwise false

Definition at line 675 of file hector_costmap.cpp.

bool CostMapCalculation::calculateCostMap_old ( char  map_level) [private]

This function fuses the elevation and grid map und calculates the 2d cost map.

Parameters:
[in]map_levelset the method to calculate the 2d cost map
Return values:
trueif everything went fine, otherwise false

Definition at line 440 of file hector_costmap.cpp.

void CostMapCalculation::callbackElevationMap ( const hector_elevation_msgs::ElevationGridConstPtr &  elevation_map_msg)

callbackElevationMap get called if a new elevation map is available

Parameters:
[in]elevation_map_msgstores an elevation map as a 2.5D grid

Definition at line 225 of file hector_costmap.cpp.

void CostMapCalculation::callbackGridMap ( const nav_msgs::OccupancyGridConstPtr &  grid_map_msg)

callbackGridMap get called if a new 2D grid map is available

Parameters:
[in]grid_map_msgstores 2D grid map data

Definition at line 390 of file hector_costmap.cpp.

void CostMapCalculation::callbackPointCloud ( const sensor_msgs::PointCloud2ConstPtr &  cloud_msg)

callbackOctoMap get called if a new octo map is available

Parameters:
[in]octo_map_msgstores an octo map as a 3D point cloud

Definition at line 309 of file hector_costmap.cpp.

bool CostMapCalculation::computeWindowIndices ( ros::Time  time,
double  update_radius 
) [private]

Computes the indices for the bounding box thats get updated.

Parameters:
[in]timeCurrent time is needed
[in]update_radiusdetermines the size of the bounding box in [m]
Return values:
trueif everything went fine, otherwise false

Definition at line 754 of file hector_costmap.cpp.

void CostMapCalculation::dynRecParamCallback ( hector_costmap::CostMapCalculationConfig &  config,
uint32_t  level 
)

dynRecParamCallback This function get called if new parameters has been set with the dynamic reconfigure dialog

Parameters:
[in]configcontains current parameters
[in]levelis unused

Definition at line 148 of file hector_costmap.cpp.

void CostMapCalculation::sysMessageCallback ( const std_msgs::String &  string)

sysMessageCallback This function listen to system messages

Parameters:
[in]stringparameter contains system messages, like "reset"

Definition at line 119 of file hector_costmap.cpp.

timerCallback publishes periodically a new 2D cost map

Parameters:
[in]eventis unused

Definition at line 213 of file hector_costmap.cpp.

void CostMapCalculation::updateMapParamsCallback ( const nav_msgs::MapMetaData &  map_meta_data)

updateMapParamsCallback updates the map meta information if someone has changed it

Parameters:
[in]map_meta_datamap meta information like grid resolution or origin

Definition at line 159 of file hector_costmap.cpp.


Member Data Documentation

Definition at line 104 of file hector_costmap.h.

nav_msgs::OccupancyGrid CostMapCalculation::cloud_cost_map [private]

Definition at line 112 of file hector_costmap.h.

nav_msgs::OccupancyGrid CostMapCalculation::cost_map [private]

Definition at line 112 of file hector_costmap.h.

std::string CostMapCalculation::cost_map_topic [private]

Definition at line 116 of file hector_costmap.h.

Definition at line 106 of file hector_costmap.h.

dynamic_reconfigure::Server<hector_costmap::CostMapCalculationConfig> CostMapCalculation::dyn_rec_server_ [private]

Definition at line 92 of file hector_costmap.h.

nav_msgs::OccupancyGrid CostMapCalculation::elevation_cost_map [private]

Definition at line 112 of file hector_costmap.h.

Definition at line 114 of file hector_costmap.h.

Definition at line 114 of file hector_costmap.h.

Definition at line 114 of file hector_costmap.h.

Definition at line 116 of file hector_costmap.h.

Definition at line 102 of file hector_costmap.h.

cv::Mat CostMapCalculation::grid_map_ [private]

Definition at line 114 of file hector_costmap.h.

nav_msgs::OccupancyGridConstPtr CostMapCalculation::grid_map_msg_ [private]

Definition at line 110 of file hector_costmap.h.

std::string CostMapCalculation::grid_map_topic [private]

Definition at line 116 of file hector_costmap.h.

Definition at line 101 of file hector_costmap.h.

Definition at line 100 of file hector_costmap.h.

Definition at line 94 of file hector_costmap.h.

Definition at line 117 of file hector_costmap.h.

std::string CostMapCalculation::map_frame_id [private]

Definition at line 117 of file hector_costmap.h.

Definition at line 105 of file hector_costmap.h.

Definition at line 103 of file hector_costmap.h.

Eigen::Vector2i CostMapCalculation::max_index [private]

Definition at line 119 of file hector_costmap.h.

Eigen::Vector2i CostMapCalculation::min_index [private]

Definition at line 119 of file hector_costmap.h.

Definition at line 80 of file hector_costmap.h.

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Definition at line 116 of file hector_costmap.h.

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Definition at line 104 of file hector_costmap.h.

Definition at line 104 of file hector_costmap.h.

Definition at line 104 of file hector_costmap.h.

pcl::PointCloud<pcl::PointXYZ>::Ptr CostMapCalculation::sliced_cloud [private]

Definition at line 109 of file hector_costmap.h.

Definition at line 107 of file hector_costmap.h.

Definition at line 107 of file hector_costmap.h.

Definition at line 86 of file hector_costmap.h.

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Definition at line 88 of file hector_costmap.h.

Definition at line 89 of file hector_costmap.h.

std::string CostMapCalculation::sys_msg_topic [private]

Definition at line 116 of file hector_costmap.h.

Definition at line 96 of file hector_costmap.h.

Definition at line 100 of file hector_costmap.h.

Definition at line 104 of file hector_costmap.h.

Definition at line 104 of file hector_costmap.h.

Definition at line 104 of file hector_costmap.h.

Definition at line 98 of file hector_costmap.h.


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


hector_costmap
Author(s):
autogenerated on Wed May 8 2019 02:32:03