#include <range_sensor_layer.h>

Inheritance diagram for range_sensor_layer::RangeSensorLayer:

Public Types
enum	InputSensorType { VARIABLE, FIXED, ALL }
Public Member Functions
virtual void	activate ()
virtual void	deactivate ()
virtual void	onInitialize ()
	RangeSensorLayer ()
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)
virtual void	updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)
Private Member Functions
float	area (int x1, int y1, int x2, int y2, int x3, int y3)
void	bufferIncomingRangeMsg (const sensor_msgs::RangeConstPtr &range_message)
double	delta (double phi)
double	gamma (double theta)
void	get_deltas (double angle, double dx, double dy)
int	orient2d (int Ax, int Ay, int Bx, int By, int Cx, int Cy)
void	processFixedRangeMsg (sensor_msgs::Range &range_message)
void	processRangeMsg (sensor_msgs::Range &range_message)
void	processVariableRangeMsg (sensor_msgs::Range &range_message)
void	reconfigureCB (range_sensor_layer::RangeSensorLayerConfig &config, uint32_t level)
double	sensor_model (double r, double phi, double theta)
unsigned char	to_cost (double p)
double	to_prob (unsigned char c)
void	update_cell (double ox, double oy, double ot, double r, double nx, double ny, bool clear)
void	updateCostmap ()
void	updateCostmap (sensor_msgs::Range &range_message, bool clear_sensor_cone)
Private Attributes
unsigned int	buffered_readings_
bool	clear_on_max_reading_
double	clear_threshold_
dynamic_reconfigure::Server < range_sensor_layer::RangeSensorLayerConfig > *	dsrv_
std::string	global_frame_
double	inflate_cone_
ros::Time	last_reading_time_
double	mark_threshold_
double	max_angle_
double	max_x_
double	max_y_
double	min_x_
double	min_y_
double	no_readings_timeout_
double	phi_v_
boost::function< void(sensor_msgs::Range &range_message)>	processRangeMessageFunc_
boost::mutex	range_message_mutex_
std::list< sensor_msgs::Range >	range_msgs_buffer_
std::vector< ros::Subscriber >	range_subs_

Detailed Description

Definition at line 13 of file range_sensor_layer.h.

Member Enumeration Documentation

enum range_sensor_layer::RangeSensorLayer::InputSensorType

Enumerator:

VARIABLE
FIXED
ALL

Definition at line 16 of file range_sensor_layer.h.

Constructor & Destructor Documentation

range_sensor_layer::RangeSensorLayer::RangeSensorLayer ( )

Definition at line 13 of file range_sensor_layer.cpp.

Member Function Documentation

void range_sensor_layer::RangeSensorLayer::activate ( ) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 460 of file range_sensor_layer.cpp.

float range_sensor_layer::RangeSensorLayer::area	(	int	x1,
		int	y1,
		int	x2,
		int	y2,
		int	x3,
		int	y3
	)		`[inline, private]`

Definition at line 74 of file range_sensor_layer.h.

void range_sensor_layer::RangeSensorLayer::bufferIncomingRangeMsg ( const sensor_msgs::RangeConstPtr & range_message ) [private]

Definition at line 169 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::deactivate ( ) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 455 of file range_sensor_layer.cpp.

double range_sensor_layer::RangeSensorLayer::delta ( double phi ) [private]

Definition at line 117 of file range_sensor_layer.cpp.

double range_sensor_layer::RangeSensorLayer::gamma ( double theta ) [private]

Definition at line 109 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::get_deltas	(	double	angle,
		double *	dx,
		double *	dy
	)		`[private]`

Definition at line 122 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::onInitialize ( ) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 15 of file range_sensor_layer.cpp.

int range_sensor_layer::RangeSensorLayer::orient2d	(	int	Ax,
		int	Ay,
		int	Bx,
		int	By,
		int	Cx,
		int	Cy
	)		`[inline, private]`

Definition at line 79 of file range_sensor_layer.h.

void range_sensor_layer::RangeSensorLayer::processFixedRangeMsg ( sensor_msgs::Range & range_message ) [private]

Definition at line 199 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::processRangeMsg ( sensor_msgs::Range & range_message ) [private]

Definition at line 191 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::processVariableRangeMsg ( sensor_msgs::Range & range_message ) [private]

Definition at line 224 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::reconfigureCB	(	range_sensor_layer::RangeSensorLayerConfig &	config,
		uint32_t	level
	)		`[private]`

Definition at line 153 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::reset ( ) [virtual]

Reimplemented from costmap_2d::Layer.

Definition at line 446 of file range_sensor_layer.cpp.

double range_sensor_layer::RangeSensorLayer::sensor_model	(	double	r,
		double	phi,
		double	theta
	)		`[private]`

Definition at line 134 of file range_sensor_layer.cpp.

unsigned char range_sensor_layer::RangeSensorLayer::to_cost ( double p ) [inline, private]

Definition at line 52 of file range_sensor_layer.h.

double range_sensor_layer::RangeSensorLayer::to_prob ( unsigned char c ) [inline, private]

Definition at line 51 of file range_sensor_layer.h.

void range_sensor_layer::RangeSensorLayer::update_cell	(	double	ox,
		double	oy,
		double	ot,
		double	r,
		double	nx,
		double	ny,
		bool	clear
	)		`[private]`

Definition at line 346 of file range_sensor_layer.cpp.

void range_sensor_layer::RangeSensorLayer::updateBounds	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)		`[virtual]`