Inheritance diagram for CostmapToPolygons:
Public Member Functions | |
| costmap_converter::CostmapToPolygonsDBSMCCH::Parameters & | parameters () |
| const std::vector< costmap_converter::CostmapToPolygonsDBSMCCH::KeyPoint > & | points () const |
 Public Member Functions inherited from costmap_converter::CostmapToPolygonsDBSMCCH | |
| virtual void | compute () |
| This method performs the actual work (conversion of the costmap to polygons) More... | |
| CostmapToPolygonsDBSMCCH () | |
| Constructor. More... | |
| PolygonContainerConstPtr | getPolygons () |
| Get a shared instance of the current polygon container. More... | |
| virtual void | initialize (ros::NodeHandle nh) |
| Initialize the plugin. More... | |
| virtual void | setCostmap2D (costmap_2d::Costmap2D *costmap) |
| Pass a pointer to the costap to the plugin. More... | |
| virtual void | updateCostmap2D () |
| Get updated data from the previously set Costmap2D. More... | |
| virtual | ~CostmapToPolygonsDBSMCCH () |
| Destructor. More... | |
| Public Member Functions inherited from costmap_converter::BaseCostmapToPolygons | |
| virtual ObstacleArrayConstPtr | getObstacles () |
| Get a shared instance of the current obstacle container If this method is not overwritten by the underlying plugin, the obstacle container just imports getPolygons(). More... | |
| virtual void | setOdomTopic (const std::string &odom_topic) |
| Set name of robot's odometry topic. More... | |
| virtual bool | stackedCostmapConversion () |
| Determines whether an additional plugin for subsequent costmap conversion is specified. More... | |
| void | startWorker (ros::Rate rate, costmap_2d::Costmap2D *costmap, bool spin_thread=false) |
Instantiate a worker that repeatedly coverts the most recent costmap to polygons. The worker is implemented as a timer event that is invoked at a specific rate. The passed costmap pointer must be valid at the complete time and must be lockable. By specifying the argument spin_thread the timer event is invoked in a separate thread and callback queue or otherwise it is called from the global callback queue (of the node in which the plugin is used). More... | |
| void | stopWorker () |
| Stop the worker that repeatedly converts the costmap to polygons. More... | |
| virtual | ~BaseCostmapToPolygons () |
| Destructor. More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from costmap_converter::CostmapToPolygonsDBSMCCH | |
| template<typename Point > | |
| static void | convertPointToPolygon (const Point &point, geometry_msgs::Polygon &polygon) |
| Convert a generi point type to a geometry_msgs::Polygon. More... | |
| Protected Member Functions inherited from costmap_converter::CostmapToPolygonsDBSMCCH | |
| void | addPoint (double x, double y) |
| helper function for adding a point to the lookup data structures More... | |
| void | convexHull (std::vector< KeyPoint > &cluster, geometry_msgs::Polygon &polygon) |
| Compute the convex hull for a single cluster (monotone chain algorithm) More... | |
| void | convexHull2 (std::vector< KeyPoint > &cluster, geometry_msgs::Polygon &polygon) |
| Compute the convex hull for a single cluster. More... | |
| template<typename P1 , typename P2 , typename P3 > | |
| long double | cross (const P1 &O, const P2 &A, const P3 &B) |
| 2D Cross product of two vectors defined by two points and a common origin More... | |
| void | dbScan (std::vector< std::vector< KeyPoint > > &clusters) |
| DBSCAN algorithm for clustering. More... | |
| int | neighborCellsToIndex (int cx, int cy) |
| offset [meters] in y for the lookup grid More... | |
| void | pointToNeighborCells (const KeyPoint &kp, int &cx, int &cy) |
| compute the cell indices of a keypoint More... | |
| void | regionQuery (int curr_index, std::vector< int > &neighbor_indices) |
| Helper function for dbScan to search for neighboring points. More... | |
| void | simplifyPolygon (geometry_msgs::Polygon &polygon) |
| Simplify a polygon by removing points. More... | |
| void | updatePolygonContainer (PolygonContainerPtr polygons) |
| Thread-safe update of the internal polygon container (that is shared using getPolygons() from outside this class) More... | |
| Protected Member Functions inherited from costmap_converter::BaseCostmapToPolygons | |
| BaseCostmapToPolygons () | |
| Protected constructor that should be called by subclasses. More... | |
| void | spinThread () |
| Blocking method that checks for new timer events (active if startWorker() is called with spin_thread enabled) More... | |
| void | workerCallback (const ros::TimerEvent &) |
| The callback of the worker that performs the actual work (updating the costmap and converting it to polygons) More... | |
| Protected Attributes inherited from costmap_converter::CostmapToPolygonsDBSMCCH | |
| std::vector< std::vector< int > > | neighbor_lookup_ |
| int | neighbor_size_x_ |
| array of cells for neighbor lookup More... | |
| int | neighbor_size_y_ |
| size of the neighbour lookup in x (number of cells) More... | |
| std::vector< KeyPoint > | occupied_cells_ |
| List of occupied cells in the current map (updated by updateCostmap2D()) More... | |
| double | offset_x_ |
| size of the neighbour lookup in y (number of cells) More... | |
| double | offset_y_ |
| offset [meters] in x for the lookup grid More... | |
| Parameters | parameter_ |
| Parameters | parameter_buffered_ |
| boost::mutex | parameter_mutex_ |
| Mutex that keeps track about the ownership of the shared polygon instance. More... | |
Detailed Description
Definition at line 19 of file costmap_polygons.cpp.
Member Function Documentation
◆ parameters()
|
inline |
Definition at line 23 of file costmap_polygons.cpp.
◆ points()
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inline |
Definition at line 22 of file costmap_polygons.cpp.
The documentation for this class was generated from the following file: