Costmap layer which calculates the steepness of the vertices. This is useful to avoid stairs. More...

#include <steepness_layer.h>

Inheritance diagram for mesh_layers::SteepnessLayer:

Private Member Functions
virtual bool	computeLayer ()
	calculate the values of this layer More...

bool	computeLethals ()
	mark vertices with values above the threshold as lethal More...

virtual lvr2::VertexMap< float > &	costs ()
	deliver the current costmap More...

virtual float	defaultValue ()
	delivers the default layer value More...

virtual bool	initialize (const std::string &name)
	initializes this layer plugin More...

virtual std::set< lvr2::VertexHandle > &	lethals ()
	deliver set containing all vertices marked as lethal More...

virtual bool	readLayer ()
	try read layer from map file More...

void	reconfigureCallback (mesh_layers::SteepnessLayerConfig &cfg, uint32_t level)
	callback for incoming reconfigure configs More...

virtual float	threshold ()
	delivers the threshold above which vertices are marked lethal More...

virtual void	updateLethal (std::set< lvr2::VertexHandle > &added_lethal, std::set< lvr2::VertexHandle > &removed_lethal)
	update set of lethal vertices by adding and removing vertices More...

virtual bool	writeLayer ()
	try to write layer to map file More...

Private Attributes
SteepnessLayerConfig	config

dynamic_reconfigure::Server< mesh_layers::SteepnessLayerConfig >::CallbackType	config_callback

bool	first_config

std::set< lvr2::VertexHandle >	lethal_vertices

boost::shared_ptr< dynamic_reconfigure::Server< mesh_layers::SteepnessLayerConfig > >	reconfigure_server_ptr

lvr2::DenseVertexMap< float >	steepness

Additional Inherited Members
Public Types inherited from mesh_map::AbstractLayer
typedef boost::shared_ptr< mesh_map::AbstractLayer >	Ptr

Public Member Functions inherited from mesh_map::AbstractLayer
virtual bool	initialize (const std::string &name, const notify_func notify_update, std::shared_ptr< mesh_map::MeshMap > &map, std::shared_ptr< lvr2::HalfEdgeMesh< Vector >> &mesh, std::shared_ptr< lvr2::AttributeMeshIOBase > &io)

void	notifyChange ()

virtual lvr2::BaseVector< float >	vectorAt (const lvr2::VertexHandle &vertex)

virtual lvr2::BaseVector< float >	vectorAt (const std::array< lvr2::VertexHandle, 3 > &vertices, const std::array< float, 3 > &barycentric_coords)

virtual const boost::optional< lvr2::VertexMap< lvr2::BaseVector< float > > & >	vectorMap ()

Protected Attributes inherited from mesh_map::AbstractLayer
std::string	layer_name

std::shared_ptr< mesh_map::MeshMap >	map_ptr

std::shared_ptr< lvr2::AttributeMeshIOBase >	mesh_io_ptr

std::shared_ptr< lvr2::HalfEdgeMesh< Vector > >	mesh_ptr

ros::NodeHandle	private_nh

Detailed Description

Costmap layer which calculates the steepness of the vertices. This is useful to avoid stairs.

Definition at line 50 of file steepness_layer.h.

Member Function Documentation

◆ computeLayer()

bool mesh_layers::SteepnessLayer::computeLayer ( )

privatevirtual

calculate the values of this layer

Returns: true if successfull; else false

Implements mesh_map::AbstractLayer.

Definition at line 95 of file steepness_layer.cpp.

◆ computeLethals()

bool mesh_layers::SteepnessLayer::computeLethals ( )

private

mark vertices with values above the threshold as lethal

Returns: true if successfull; else false

Definition at line 77 of file steepness_layer.cpp.

◆ costs()

lvr2::VertexMap< float > & mesh_layers::SteepnessLayer::costs ( )

privatevirtual

deliver the current costmap

Returns: calculated costmap

Implements mesh_map::AbstractLayer.

Definition at line 163 of file steepness_layer.cpp.

◆ defaultValue()

virtual float mesh_layers::SteepnessLayer::defaultValue ( )

inlineprivatevirtual

delivers the default layer value

Returns: default value used for this layer

Implements mesh_map::AbstractLayer.

Definition at line 78 of file steepness_layer.h.

◆ initialize()

bool mesh_layers::SteepnessLayer::initialize ( const std::string & name )

privatevirtual

initializes this layer plugin

Parameters

name	name of this plugin

Returns: true if initialization was successfull; else false

Implements mesh_map::AbstractLayer.

Definition at line 192 of file steepness_layer.cpp.

◆ lethals()

virtual std::set<lvr2::VertexHandle>& mesh_layers::SteepnessLayer::lethals ( )

inlineprivatevirtual

deliver set containing all vertices marked as lethal

Returns: lethal vertices

Implements mesh_map::AbstractLayer.

Definition at line 109 of file steepness_layer.h.

◆ readLayer()

bool mesh_layers::SteepnessLayer::readLayer ( )

privatevirtual

try read layer from map file

Returns: true if successul; else false

Implements mesh_map::AbstractLayer.

Definition at line 49 of file steepness_layer.cpp.

◆ reconfigureCallback()

void mesh_layers::SteepnessLayer::reconfigureCallback	(	mesh_layers::SteepnessLayerConfig &	cfg,
		uint32_t	level
	)

private

callback for incoming reconfigure configs

Parameters

cfg	new config
level	level

Definition at line 168 of file steepness_layer.cpp.

◆ threshold()

float mesh_layers::SteepnessLayer::threshold ( )

privatevirtual

delivers the threshold above which vertices are marked lethal

Returns: lethal threshold

Implements mesh_map::AbstractLayer.

Definition at line 90 of file steepness_layer.cpp.

◆ updateLethal()

virtual void mesh_layers::SteepnessLayer::updateLethal	(	std::set< lvr2::VertexHandle > &	added_lethal,
		std::set< lvr2::VertexHandle > &	removed_lethal
	)

inlineprivatevirtual

update set of lethal vertices by adding and removing vertices

Parameters

added_lethal	vertices to be marked as lethal
removed_lethal	vertices to be removed from the set of lethal vertices

Implements mesh_map::AbstractLayer.

Definition at line 120 of file steepness_layer.h.

◆ writeLayer()

bool mesh_layers::SteepnessLayer::writeLayer ( )

privatevirtual

try to write layer to map file

Returns: true if successfull; else false

Implements mesh_map::AbstractLayer.

Definition at line 63 of file steepness_layer.cpp.

Member Data Documentation

◆ config

SteepnessLayerConfig mesh_layers::SteepnessLayer::config

private

Definition at line 142 of file steepness_layer.h.

◆ config_callback

dynamic_reconfigure::Server<mesh_layers::SteepnessLayerConfig>::CallbackType mesh_layers::SteepnessLayer::config_callback

private

Definition at line 138 of file steepness_layer.h.

◆ first_config

bool mesh_layers::SteepnessLayer::first_config

private

Definition at line 140 of file steepness_layer.h.

◆ lethal_vertices

std::set<lvr2::VertexHandle> mesh_layers::SteepnessLayer::lethal_vertices

private

Definition at line 134 of file steepness_layer.h.

◆ reconfigure_server_ptr

boost::shared_ptr<dynamic_reconfigure::Server<mesh_layers::SteepnessLayerConfig> > mesh_layers::SteepnessLayer::reconfigure_server_ptr

private

Definition at line 137 of file steepness_layer.h.

◆ steepness

lvr2::DenseVertexMap<float> mesh_layers::SteepnessLayer::steepness

private

Definition at line 132 of file steepness_layer.h.

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

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ computeLayer()

◆ computeLethals()

◆ costs()

◆ defaultValue()

◆ initialize()

◆ lethals()

◆ readLayer()

◆ reconfigureCallback()

◆ threshold()

◆ updateLethal()

◆ writeLayer()

Member Data Documentation

◆ config

◆ config_callback

◆ first_config

◆ lethal_vertices

◆ reconfigure_server_ptr

◆ steepness