Class RoutesMapsManager

• Defined in File RoutesMapsManager.hpp

Inheritance Relationships

Base Type

• public easynav::MapsManagerBase

Class Documentation

class RoutesMapsManager : public easynav::MapsManagerBase

A plugin-based map manager using the RoutesMap data structure.

This manager implements a minimal mapping approach using a set of predefined navigation routes (RoutesMap). Routes are defined as straight-line segments between two poses and are loaded from a YAML file. The segments are visualized using MarkerArray messages.

Public Functions

RoutesMapsManager()

Default constructor.

~RoutesMapsManager()

Destructor.

virtual void on_initialize() override

Initializes the maps manager.

Creates necessary publishers/subscribers and initializes the map instances.

Throws:

std::runtime_error – if initialization fails.

virtual void update(NavState &nav_state) override

Updates the internal maps using the current navigation state.

Intended to be called periodically. May perform dynamic map updates based on new sensor data or internal state.

Parameters:

nav_state – Current state of the navigation system.

inline const RoutesMap &get_routes() const

Access to the loaded routes (for testing and tools).