A 2D costmap provides a mapping between points in the world and their associated "costs". More...

#include <nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp>

Inheritance diagram for nav2_costmap_2d::Costmap2D:

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Classes
class	MarkCell

class	PolygonOutlineCells

Public Types
typedef std::recursive_mutex	mutex_t

Public Member Functions
	Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value=0)
	Constructor for a costmap. More...

	Costmap2D (const Costmap2D &map)
	Copy constructor for a costmap, creates a copy efficiently. More...

	Costmap2D (const nav_msgs::msg::OccupancyGrid &map)
	Constructor for a costmap from an OccupancyGrid map. More...

Costmap2D &	operator= (const Costmap2D &map)
	Overloaded assignment operator. More...

bool	copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y)
	Turn this costmap into a copy of a window of a costmap passed in. More...

bool	copyWindow (const Costmap2D &source, unsigned int sx0, unsigned int sy0, unsigned int sxn, unsigned int syn, unsigned int dx0, unsigned int dy0)
	Copies the (x0,y0)..(xn,yn) window from source costmap into a current costmap. More...

	Costmap2D ()
	Default constructor.

virtual	~Costmap2D ()
	Destructor.

unsigned char	getCost (unsigned int mx, unsigned int my) const
	Get the cost of a cell in the costmap. More...

unsigned char	getCost (unsigned int index) const
	Get the cost of a cell in the costmap. More...

void	setCost (unsigned int mx, unsigned int my, unsigned char cost)
	Set the cost of a cell in the costmap. More...

void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const
	Convert from map coordinates to world coordinates. More...

bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const
	Convert from world coordinates to map coordinates. More...

void	worldToMapNoBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates without checking for legal bounds. More...

void	worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates, constraining results to legal bounds. More...

unsigned int	getIndex (unsigned int mx, unsigned int my) const
	Given two map coordinates... compute the associated index. More...

void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const
	Given an index... compute the associated map coordinates. More...

unsigned char *	getCharMap () const
	Will return a pointer to the underlying unsigned char array used as the costmap. More...

unsigned int	getSizeInCellsX () const
	Accessor for the x size of the costmap in cells. More...

unsigned int	getSizeInCellsY () const
	Accessor for the y size of the costmap in cells. More...

double	getSizeInMetersX () const
	Accessor for the x size of the costmap in meters. More...

double	getSizeInMetersY () const
	Accessor for the y size of the costmap in meters. More...

double	getOriginX () const
	Accessor for the x origin of the costmap. More...

double	getOriginY () const
	Accessor for the y origin of the costmap. More...

double	getResolution () const
	Accessor for the resolution of the costmap. More...

void	setDefaultValue (unsigned char c)
	Set the default background value of the costmap. More...

unsigned char	getDefaultValue ()
	Get the default background value of the costmap. More...

bool	setConvexPolygonCost (const std::vector< geometry_msgs::msg::Point > &polygon, unsigned char cost_value)
	Sets the cost of a convex polygon to a desired value. More...

void	polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that make up the outline of a polygon. More...

void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that fill a convex polygon. More...

virtual void	updateOrigin (double new_origin_x, double new_origin_y)
	Move the origin of the costmap to a new location.... keeping data when it can. More...

bool	saveMap (std::string file_name)
	Save the costmap out to a pgm file. More...

void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y)
	Resize the costmap.

void	resetMap (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn)
	Reset the costmap in bounds.

void	resetMapToValue (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn, unsigned char value)
	Reset the costmap in bounds to a value.

unsigned int	cellDistance (double world_dist)
	Given distance in the world... convert it to cells. More...

mutex_t *	getMutex ()

Protected Member Functions
template<typename data_type >
void	copyMapRegion (data_type source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, unsigned int sm_size_x, data_type dest_map, unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int region_size_y)
	Copy a region of a source map into a destination map. More...

virtual void	deleteMaps ()
	Deletes the costmap, static_map, and markers data structures.

virtual void	resetMaps ()
	Resets the costmap and static_map to be unknown space.

virtual void	initMaps (unsigned int size_x, unsigned int size_y)
	Initializes the costmap, static_map, and markers data structures. More...

template<class ActionType >
void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX, unsigned int min_length=0)
	Raytrace a line and apply some action at each step. More...

Protected Attributes
unsigned int	size_x_

unsigned int	size_y_

double	resolution_

double	origin_x_

double	origin_y_

unsigned char *	costmap_

unsigned char	default_value_

Friends
class	CostmapTester

Detailed Description

A 2D costmap provides a mapping between points in the world and their associated "costs".

Definition at line 67 of file costmap_2d.hpp.

Constructor & Destructor Documentation

◆ Costmap2D() [1/3]

nav2_costmap_2d::Costmap2D::Costmap2D	(	unsigned int	cells_size_x,
		unsigned int	cells_size_y,
		double	resolution,
		double	origin_x,
		double	origin_y,
		unsigned char	default_value = `0`
	)

Constructor for a costmap.

Parameters

cells_size_x	The x size of the map in cells
cells_size_y	The y size of the map in cells
resolution	The resolution of the map in meters/cell
origin_x	The x origin of the map
origin_y	The y origin of the map
default_value	Default Value

Definition at line 49 of file costmap_2d.cpp.

References initMaps(), and resetMaps().

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◆ Costmap2D() [2/3]

nav2_costmap_2d::Costmap2D::Costmap2D ( const Costmap2D & map )

Copy constructor for a costmap, creates a copy efficiently.

Parameters

map	The costmap to copy

Definition at line 235 of file costmap_2d.cpp.

◆ Costmap2D() [3/3]

nav2_costmap_2d::Costmap2D::Costmap2D ( const nav_msgs::msg::OccupancyGrid & map )

explicit

Constructor for a costmap from an OccupancyGrid map.

Parameters

map	The OccupancyGrid map to create costmap from

Definition at line 62 of file costmap_2d.cpp.

Member Function Documentation

◆ cellDistance()

unsigned int nav2_costmap_2d::Costmap2D::cellDistance ( double world_dist )

Given distance in the world... convert it to cells.

Parameters

world_dist The world distance

Returns: The equivalent cell distance

Definition at line 255 of file costmap_2d.cpp.

Referenced by nav2_costmap_2d::InflationLayer::cellDistance(), nav2_costmap_2d::ObstacleLayer::raytraceFreespace(), and nav2_costmap_2d::VoxelLayer::raytraceFreespace().

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◆ convexFillCells()

void nav2_costmap_2d::Costmap2D::convexFillCells	(	const std::vector< MapLocation > &	polygon,
		std::vector< MapLocation > &	polygon_cells
	)

Get the map cells that fill a convex polygon.

Parameters

polygon	The polygon in map coordinates to rasterize
polygon_cells	Will be set to the cells that fill the polygon

Definition at line 432 of file costmap_2d.cpp.

References polygonOutlineCells().

Referenced by setConvexPolygonCost().

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◆ copyCostmapWindow()

bool nav2_costmap_2d::Costmap2D::copyCostmapWindow	(	const Costmap2D &	map,
		double	win_origin_x,
		double	win_origin_y,
		double	win_size_x,
		double	win_size_y
	)

Turn this costmap into a copy of a window of a costmap passed in.

Parameters

map	The costmap to copy
win_origin_x	The x origin (lower left corner) for the window to copy, in meters
win_origin_y	The y origin (lower left corner) for the window to copy, in meters
win_size_x	The x size of the window, in meters
win_size_y	The y size of the window, in meters

Definition at line 145 of file costmap_2d.cpp.

References copyMapRegion(), deleteMaps(), initMaps(), and worldToMap().

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◆ copyMapRegion()

template<typename data_type >

void nav2_costmap_2d::Costmap2D::copyMapRegion	(	data_type *	source_map,
		unsigned int	sm_lower_left_x,
		unsigned int	sm_lower_left_y,
		unsigned int	sm_size_x,
		data_type *	dest_map,
		unsigned int	dm_lower_left_x,
		unsigned int	dm_lower_left_y,
		unsigned int	dm_size_x,
		unsigned int	region_size_x,
		unsigned int	region_size_y
	)

inlineprotected

Copy a region of a source map into a destination map.

Parameters

source_map	The source map
sm_lower_left_x	The lower left x point of the source map to start the copy
sm_lower_left_y	The lower left y point of the source map to start the copy
sm_size_x	The x size of the source map
dest_map	The destination map
dm_lower_left_x	The lower left x point of the destination map to start the copy
dm_lower_left_y	The lower left y point of the destination map to start the copy
dm_size_x	The x size of the destination map
region_size_x	The x size of the region to copy
region_size_y	The y size of the region to copy

Definition at line 382 of file costmap_2d.hpp.

Referenced by copyCostmapWindow(), copyWindow(), updateOrigin(), and nav2_costmap_2d::VoxelLayer::updateOrigin().

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◆ copyWindow()

bool nav2_costmap_2d::Costmap2D::copyWindow	(	const Costmap2D &	source,
		unsigned int	sx0,
		unsigned int	sy0,
		unsigned int	sxn,
		unsigned int	syn,
		unsigned int	dx0,
		unsigned int	dy0
	)

Copies the (x0,y0)..(xn,yn) window from source costmap into a current costmap.

Parameters

source	Source costmap where the window will be copied from
sx0	Lower x-boundary of the source window to copy, in cells
sy0	Lower y-boundary of the source window to copy, in cells
sxn	Upper x-boundary of the source window to copy, in cells
syn	Upper y-boundary of the source window to copy, in cells
dx0	Lower x-boundary of the destination window to copy, in cells
dx0	Lower y-boundary of the destination window to copy, in cells

Returns: true if copy was succeeded or false in negative case

Definition at line 187 of file costmap_2d.cpp.

References copyMapRegion(), getSizeInCellsX(), and getSizeInCellsY().

Referenced by nav2_costmap_2d::LayeredCostmap::updateMap().

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◆ getCharMap()

unsigned char * nav2_costmap_2d::Costmap2D::getCharMap ( ) const

Will return a pointer to the underlying unsigned char array used as the costmap.

Returns: A pointer to the underlying unsigned char array storing cost values

Definition at line 261 of file costmap_2d.cpp.

Referenced by nav2_costmap_2d::CostmapLayer::clearArea(), nav2_navfn_planner::NavfnPlanner::makePlan(), nav2_costmap_2d::KeepoutFilter::process(), nav2_costmap_2d::RangeSensorLayer::updateCosts(), nav2_costmap_2d::InflationLayer::updateCosts(), and nav2_costmap_2d::DenoiseLayer::updateCosts().

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◆ getCost() [1/2]

unsigned char nav2_costmap_2d::Costmap2D::getCost ( unsigned int index ) const

Get the cost of a cell in the costmap.

Parameters

index The cell index

Returns: The cost of the cell

Definition at line 271 of file costmap_2d.cpp.

◆ getCost() [2/2]

unsigned char nav2_costmap_2d::Costmap2D::getCost	(	unsigned int	mx,
		unsigned int	my
	)		const

Get the cost of a cell in the costmap.

Parameters

mx	The x coordinate of the cell
my	The y coordinate of the cell

Returns: The cost of the cell

Definition at line 266 of file costmap_2d.cpp.

References getIndex().

Referenced by dwb_critics::BaseObstacleCritic::addCriticVisualization(), nav2_navfn_planner::NavfnPlanner::createPlan(), nav2_smac_planner::SmacPlanner2D::createPlan(), nav2_smac_planner::Smoother::findBoundaryExpansion(), nav2_smac_planner::NodeHybrid::getObstacleHeuristic(), nav2_smac_planner::GridCollisionChecker::inCollision(), nav2_planner::PlannerServer::isPathValid(), theta_star::ThetaStar::isSafe(), dwb_critics::ObstacleFootprintCritic::pointCost(), dwb_critics::PathDistCritic::prepare(), nav2_costmap_2d::Costmap2DPublisher::publishCostmap(), saveMap(), dwb_critics::BaseObstacleCritic::scorePose(), nav2_smac_planner::CostmapDownsampler::setCostOfCell(), nav2_smac_planner::Smoother::smoothImpl(), nav2_smoother::SimpleSmoother::smoothImpl(), and nav2_costmap_2d::StaticLayer::updateCosts().

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◆ getDefaultValue()

unsigned char nav2_costmap_2d::Costmap2D::getDefaultValue ( )

inline

Get the default background value of the costmap.

Returns: default value

Definition at line 289 of file costmap_2d.hpp.

Referenced by nav2_costmap_2d::ClearCostmapService::ClearCostmapService(), nav2_costmap_2d::LayeredCostmap::isTrackingUnknown(), and nav2_costmap_2d::DenoiseLayer::updateCosts().

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◆ getIndex()

unsigned int nav2_costmap_2d::Costmap2D::getIndex	(	unsigned int	mx,
		unsigned int	my
	)		const

inline

Given two map coordinates... compute the associated index.

Parameters

mx	The x coordinate
my	The y coordinate

Returns: The associated index

Definition at line 211 of file costmap_2d.hpp.

Referenced by nav2_costmap_2d::CostmapLayer::clearArea(), costmap_queue::CostmapQueue::enqueueCell(), getCost(), nav2_simple_commander.costmap_2d.PyCostmap2D::getCostXY(), dwb_critics::MapGridCritic::getScore(), dwb_critics::GoalDistCritic::prepare(), dwb_critics::PathDistCritic::prepare(), nav2_costmap_2d::KeepoutFilter::process(), setConvexPolygonCost(), nav2_simple_commander.costmap_2d.PyCostmap2D::setCost(), setCost(), nav2_costmap_2d::ObstacleLayer::updateBounds(), nav2_costmap_2d::VoxelLayer::updateBounds(), and nav2_costmap_2d::InflationLayer::updateCosts().

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◆ getOriginX()

double nav2_costmap_2d::Costmap2D::getOriginX ( ) const

Accessor for the x origin of the costmap.

Returns: The x origin of the costmap

Definition at line 521 of file costmap_2d.cpp.

Referenced by nav2_navfn_planner::NavfnPlanner::mapToWorld(), nav2_costmap_2d::CostmapLayer::matchSize(), nav2_costmap_2d::StaticLayer::matchSize(), nav2_smac_planner::CostmapDownsampler::on_configure(), nav2_costmap_2d::StaticLayer::processMap(), nav2_costmap_2d::Costmap2DPublisher::publishCostmap(), nav2_smac_planner::CostmapDownsampler::resizeCostmap(), and nav2_navfn_planner::NavfnPlanner::worldToMap().

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◆ getOriginY()

double nav2_costmap_2d::Costmap2D::getOriginY ( ) const

Accessor for the y origin of the costmap.

Returns: The y origin of the costmap

Definition at line 526 of file costmap_2d.cpp.

Referenced by nav2_navfn_planner::NavfnPlanner::mapToWorld(), nav2_costmap_2d::CostmapLayer::matchSize(), nav2_costmap_2d::StaticLayer::matchSize(), nav2_smac_planner::CostmapDownsampler::on_configure(), nav2_costmap_2d::StaticLayer::processMap(), nav2_costmap_2d::Costmap2DPublisher::publishCostmap(), nav2_smac_planner::CostmapDownsampler::resizeCostmap(), and nav2_navfn_planner::NavfnPlanner::worldToMap().

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◆ getResolution()

double nav2_costmap_2d::Costmap2D::getResolution ( ) const

Accessor for the resolution of the costmap.

Returns: The resolution of the costmap

Definition at line 531 of file costmap_2d.cpp.

Referenced by nav2_smac_planner::SmacPlannerHybrid::configure(), nav2_smac_planner::SmacPlannerLattice::configure(), nav2_smac_planner::SmacPlanner2D::createPlan(), nav2_smac_planner::SmacPlannerHybrid::createPlan(), nav2_smac_planner::SmacPlannerLattice::createPlan(), nav2_smac_planner::SmacPlannerHybrid::dynamicParametersCallback(), nav2_smac_planner::SmacPlannerLattice::dynamicParametersCallback(), nav2_navfn_planner::NavfnPlanner::makePlan(), nav2_navfn_planner::NavfnPlanner::mapToWorld(), nav2_costmap_2d::CostmapLayer::matchSize(), nav2_costmap_2d::StaticLayer::matchSize(), nav2_costmap_2d::InflationLayer::matchSize(), dwb_critics::PathDistCritic::prepare(), nav2_costmap_2d::StaticLayer::processMap(), nav2_costmap_2d::Costmap2DPublisher::publishCostmap(), dwb_core::DWBLocalPlanner::transformGlobalPlan(), nav2_smac_planner::CostmapDownsampler::updateCostmapSize(), and nav2_navfn_planner::NavfnPlanner::worldToMap().

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◆ getSizeInCellsX()

unsigned int nav2_costmap_2d::Costmap2D::getSizeInCellsX ( ) const

Accessor for the x size of the costmap in cells.

Returns: The x size of the costmap

Definition at line 501 of file costmap_2d.cpp.

Referenced by dwb_critics::BaseObstacleCritic::addCriticVisualization(), dwb_critics::MapGridCritic::addCriticVisualization(), nav2_costmap_2d::CostmapLayer::clearArea(), costmap_queue::CostmapQueue::computeCache(), nav2_navfn_planner::NavfnPlanner::configure(), copyWindow(), nav2_costmap_2d::Costmap2DPublisher::Costmap2DPublisher(), nav2_navfn_planner::NavfnPlanner::createPlan(), costmap_queue::CostmapQueue::getNextCell(), nav2_smac_planner::NodeHybrid::getObstacleHeuristic(), nav2_navfn_planner::NavfnPlanner::getPlanFromPotential(), nav2_smac_planner::GridCollisionChecker::inCollision(), nav2_navfn_planner::NavfnPlanner::isPlannerOutOfDate(), nav2_navfn_planner::NavfnPlanner::makePlan(), nav2_costmap_2d::CostmapLayer::matchSize(), nav2_costmap_2d::StaticLayer::matchSize(), nav2_costmap_2d::InflationLayer::matchSize(), nav2_planner::PlannerServer::on_configure(), nav2_costmap_2d::StaticLayer::processMap(), nav2_costmap_2d::Costmap2DPublisher::publishCostmap(), costmap_queue::CostmapQueue::reset(), dwb_critics::MapGridCritic::reset(), nav2_costmap_2d::Costmap2DROS::resetLayers(), nav2_smac_planner::NodeHybrid::resetObstacleHeuristic(), nav2_smac_planner::AStarAlgorithm< NodeT >::setCollisionChecker(), dwb_core::DWBLocalPlanner::transformGlobalPlan(), nav2_smac_planner::CostmapDownsampler::updateCostmapSize(), nav2_costmap_2d::RangeSensorLayer::updateCosts(), nav2_costmap_2d::InflationLayer::updateCosts(), nav2_costmap_2d::DenoiseLayer::updateCosts(), nav2_costmap_2d::LayeredCostmap::updateMap(), and nav2_navfn_planner::NavfnPlanner::worldToMap().

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◆ getSizeInCellsY()

unsigned int nav2_costmap_2d::Costmap2D::getSizeInCellsY ( ) const

Accessor for the y size of the costmap in cells.

Returns: The y size of the costmap

Definition at line 506 of file costmap_2d.cpp.

Referenced by dwb_critics::BaseObstacleCritic::addCriticVisualization(), dwb_critics::MapGridCritic::addCriticVisualization(), nav2_costmap_2d::CostmapLayer::clearArea(), costmap_queue::CostmapQueue::computeCache(), nav2_navfn_planner::NavfnPlanner::configure(), copyWindow(), nav2_costmap_2d::Costmap2DPublisher::Costmap2DPublisher(), nav2_navfn_planner::NavfnPlanner::createPlan(), costmap_queue::CostmapQueue::getNextCell(), nav2_smac_planner::NodeHybrid::getObstacleHeuristic(), nav2_navfn_planner::NavfnPlanner::getPlanFromPotential(), nav2_smac_planner::GridCollisionChecker::inCollision(), nav2_navfn_planner::NavfnPlanner::isPlannerOutOfDate(), nav2_navfn_planner::NavfnPlanner::makePlan(), nav2_costmap_2d::CostmapLayer::matchSize(), nav2_costmap_2d::StaticLayer::matchSize(), nav2_costmap_2d::InflationLayer::matchSize(), nav2_planner::PlannerServer::on_configure(), nav2_costmap_2d::StaticLayer::processMap(), nav2_costmap_2d::Costmap2DPublisher::publishCostmap(), costmap_queue::CostmapQueue::reset(), dwb_critics::MapGridCritic::reset(), nav2_costmap_2d::Costmap2DROS::resetLayers(), nav2_smac_planner::NodeHybrid::resetObstacleHeuristic(), dwb_core::DWBLocalPlanner::transformGlobalPlan(), nav2_smac_planner::CostmapDownsampler::updateCostmapSize(), nav2_costmap_2d::InflationLayer::updateCosts(), nav2_costmap_2d::LayeredCostmap::updateMap(), and nav2_navfn_planner::NavfnPlanner::worldToMap().

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◆ getSizeInMetersX()

double nav2_costmap_2d::Costmap2D::getSizeInMetersX ( ) const

Accessor for the x size of the costmap in meters.

Returns: The x size of the costmap (returns the centerpoint of the last legal cell in the map)

Definition at line 511 of file costmap_2d.cpp.

Referenced by nav2_costmap_2d::ObstacleLayer::raytraceFreespace(), nav2_costmap_2d::VoxelLayer::raytraceFreespace(), nav2_costmap_2d::ObstacleLayer::updateBounds(), nav2_costmap_2d::VoxelLayer::updateBounds(), and nav2_costmap_2d::LayeredCostmap::updateMap().

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◆ getSizeInMetersY()

double nav2_costmap_2d::Costmap2D::getSizeInMetersY ( ) const

Accessor for the y size of the costmap in meters.

Returns: The y size of the costmap (returns the centerpoint of the last legal cell in the map)

Definition at line 516 of file costmap_2d.cpp.

Referenced by nav2_costmap_2d::ObstacleLayer::raytraceFreespace(), nav2_costmap_2d::VoxelLayer::raytraceFreespace(), nav2_costmap_2d::ObstacleLayer::updateBounds(), nav2_costmap_2d::VoxelLayer::updateBounds(), and nav2_costmap_2d::LayeredCostmap::updateMap().

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◆ indexToCells()

void nav2_costmap_2d::Costmap2D::indexToCells	(	unsigned int	index,
		unsigned int &	mx,
		unsigned int &	my
	)		const

inline

Given an index... compute the associated map coordinates.

Parameters

index	The index
mx	Will be set to the x coordinate
my	Will be set to the y coordinate

Definition at line 222 of file costmap_2d.hpp.

◆ initMaps()

void nav2_costmap_2d::Costmap2D::initMaps	(	unsigned int	size_x,
		unsigned int	size_y
	)

protectedvirtual

Initializes the costmap, static_map, and markers data structures.

Parameters

size_x	The x size to use for map initialization
size_y	The y size to use for map initialization

Definition at line 101 of file costmap_2d.cpp.

Referenced by copyCostmapWindow(), Costmap2D(), operator=(), and resizeMap().

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◆ mapToWorld()

void nav2_costmap_2d::Costmap2D::mapToWorld	(	unsigned int	mx,
		unsigned int	my,
		double &	wx,
		double &	wy
	)		const

Convert from map coordinates to world coordinates.

Parameters

mx	The x map coordinate
my	The y map coordinate
wx	Will be set to the associated world x coordinate
wy	Will be set to the associated world y coordinate

Definition at line 281 of file costmap_2d.cpp.

Referenced by nav2_smac_planner::GridCollisionChecker::inCollision(), nav2_costmap_2d::KeepoutFilter::process(), nav2_costmap_2d::StaticLayer::updateBounds(), and nav2_costmap_2d::StaticLayer::updateCosts().

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◆ operator=()

Costmap2D & nav2_costmap_2d::Costmap2D::operator= ( const Costmap2D & map )

Overloaded assignment operator.

Parameters

map	The costmap to copy

Returns: A reference to the map after the copy has finished

Definition at line 210 of file costmap_2d.cpp.

References deleteMaps(), and initMaps().

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◆ polygonOutlineCells()

void nav2_costmap_2d::Costmap2D::polygonOutlineCells	(	const std::vector< MapLocation > &	polygon,
		std::vector< MapLocation > &	polygon_cells
	)

Get the map cells that make up the outline of a polygon.

Parameters

polygon	The polygon in map coordinates to rasterize
polygon_cells	Will be set to the cells contained in the outline of the polygon

Definition at line 415 of file costmap_2d.cpp.

References raytraceLine().

Referenced by convexFillCells().

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◆ raytraceLine()

template<class ActionType >

void nav2_costmap_2d::Costmap2D::raytraceLine	(	ActionType	at,
		unsigned int	x0,
		unsigned int	y0,
		unsigned int	x1,
		unsigned int	y1,
		unsigned int	max_length = `UINT_MAX`,
		unsigned int	min_length = `0`
	)

inlineprotected

Raytrace a line and apply some action at each step.

Parameters

at	The action to take... a functor
x0	The starting x coordinate
y0	The starting y coordinate
x1	The ending x coordinate
y1	The ending y coordinate
max_length	The maximum desired length of the segment... allows you to not go all the way to the endpoint
min_length	The minimum desired length of the segment