#include <costmap_layer.h>
Public Member Functions | |
bool | isDiscretized () |
NavLayerFromPoints () | |
virtual void | onInitialize () |
virtual void | updateBounds (double origin_x, double origin_y, double origin_yaw, double *min_x, double *min_y, double *max_x, double *max_y) |
void | updateBoundsFromPoints (double *min_x, double *min_y, double *max_x, double *max_y) |
virtual void | updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j) |
Protected Member Functions | |
void | clearTransformedPoints () |
clearTransformedPoints clears points from list transformed_points_ after some time | |
void | configure (NavLayerFromPointsConfig &config, uint32_t level) |
void | pointsCallback (const depth_nav_msgs::Point32List &points) |
Protected Attributes | |
bool | first_time_ |
double | last_max_x_ |
double | last_max_y_ |
double | last_min_x_ |
double | last_min_y_ |
boost::recursive_mutex | lock_ |
ros::Duration | points_keep_time_ |
depth_nav_msgs::Point32List | points_list_ |
List of received points. | |
ros::Subscriber | sub_points_ |
Subscriber for points. | |
tf::TransformListener | tf_ |
std::list < geometry_msgs::PointStamped > | transformed_points_ |
Private Attributes | |
dynamic_reconfigure::Server < NavLayerFromPointsConfig > ::CallbackType | f_ |
double | point_radius_ |
dynamic_reconfigure::Server < NavLayerFromPointsConfig > * | rec_server_ |
double | robot_radius_ |
Definition at line 62 of file costmap_layer.h.
Definition at line 65 of file costmap_layer.h.
void nav_layer_from_points::NavLayerFromPoints::clearTransformedPoints | ( | ) | [protected] |
clearTransformedPoints clears points from list transformed_points_ after some time
Definition at line 83 of file costmap_layer.cpp.
void nav_layer_from_points::NavLayerFromPoints::configure | ( | NavLayerFromPointsConfig & | config, |
uint32_t | level | ||
) | [protected] |
Definition at line 66 of file costmap_layer.cpp.
bool nav_layer_from_points::NavLayerFromPoints::isDiscretized | ( | ) | [inline] |
Definition at line 78 of file costmap_layer.h.
void nav_layer_from_points::NavLayerFromPoints::onInitialize | ( | ) | [virtual] |
Reimplemented from costmap_2d::Layer.
Definition at line 51 of file costmap_layer.cpp.
void nav_layer_from_points::NavLayerFromPoints::pointsCallback | ( | const depth_nav_msgs::Point32List & | points | ) | [protected] |
Definition at line 76 of file costmap_layer.cpp.
void nav_layer_from_points::NavLayerFromPoints::updateBounds | ( | double | origin_x, |
double | origin_y, | ||
double | origin_yaw, | ||
double * | min_x, | ||
double * | min_y, | ||
double * | max_x, | ||
double * | max_y | ||
) | [virtual] |
Reimplemented from costmap_2d::Layer.
Definition at line 101 of file costmap_layer.cpp.
void nav_layer_from_points::NavLayerFromPoints::updateBoundsFromPoints | ( | double * | min_x, |
double * | min_y, | ||
double * | max_x, | ||
double * | max_y | ||
) |
Definition at line 186 of file costmap_layer.cpp.
void nav_layer_from_points::NavLayerFromPoints::updateCosts | ( | costmap_2d::Costmap2D & | master_grid, |
int | min_i, | ||
int | min_j, | ||
int | max_i, | ||
int | max_j | ||
) | [virtual] |
Reimplemented from costmap_2d::Layer.
Definition at line 204 of file costmap_layer.cpp.
dynamic_reconfigure::Server<NavLayerFromPointsConfig>::CallbackType nav_layer_from_points::NavLayerFromPoints::f_ [private] |
Definition at line 115 of file costmap_layer.h.
bool nav_layer_from_points::NavLayerFromPoints::first_time_ [protected] |
Definition at line 103 of file costmap_layer.h.
double nav_layer_from_points::NavLayerFromPoints::last_max_x_ [protected] |
Definition at line 104 of file costmap_layer.h.
double nav_layer_from_points::NavLayerFromPoints::last_max_y_ [protected] |
Definition at line 104 of file costmap_layer.h.
double nav_layer_from_points::NavLayerFromPoints::last_min_x_ [protected] |
Definition at line 104 of file costmap_layer.h.
double nav_layer_from_points::NavLayerFromPoints::last_min_y_ [protected] |
Definition at line 104 of file costmap_layer.h.
boost::recursive_mutex nav_layer_from_points::NavLayerFromPoints::lock_ [protected] |
Definition at line 102 of file costmap_layer.h.
double nav_layer_from_points::NavLayerFromPoints::point_radius_ [private] |
Definition at line 109 of file costmap_layer.h.
Definition at line 100 of file costmap_layer.h.
depth_nav_msgs::Point32List nav_layer_from_points::NavLayerFromPoints::points_list_ [protected] |
List of received points.
Definition at line 93 of file costmap_layer.h.
dynamic_reconfigure::Server<NavLayerFromPointsConfig>* nav_layer_from_points::NavLayerFromPoints::rec_server_ [private] |
Definition at line 114 of file costmap_layer.h.
double nav_layer_from_points::NavLayerFromPoints::robot_radius_ [private] |
Definition at line 110 of file costmap_layer.h.
Subscriber for points.
Definition at line 92 of file costmap_layer.h.
Reimplemented from costmap_2d::Layer.
Definition at line 95 of file costmap_layer.h.
std::list<geometry_msgs::PointStamped> nav_layer_from_points::NavLayerFromPoints::transformed_points_ [protected] |
Definition at line 97 of file costmap_layer.h.