nav2_costmap_2d::Layer Class Reference

Abstract class for layered costmap plugin implementations. More...

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

Inheritance diagram for nav2_costmap_2d::Layer:

Collaboration diagram for nav2_costmap_2d::Layer:

Public Member Functions
	Layer ()
	A constructor.
virtual	~Layer ()
	A destructor.
void	initialize (LayeredCostmap *parent, std::string name, tf2_ros::Buffer *tf, const nav2_util::LifecycleNode::WeakPtr &node, rclcpp::CallbackGroup::SharedPtr callback_group)
	Initialization process of layer on startup.
virtual void	deactivate ()
	Stop publishers.
virtual void	activate ()
	Restart publishers if they've been stopped.
virtual void	reset ()=0
	Reset this costmap.
virtual bool	isClearable ()=0
	If clearing operations should be processed on this layer or not.
virtual void	updateBounds (double robot_x, double robot_y, double robot_yaw, double *min_x, double *min_y, double *max_x, double *max_y)=0
	This is called by the LayeredCostmap to poll this plugin as to how much of the costmap it needs to update. Each layer can increase the size of this bounds. More...
virtual void	updateCosts (Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)=0
	Actually update the underlying costmap, only within the bounds calculated during UpdateBounds().
virtual void	matchSize ()
	Implement this to make this layer match the size of the parent costmap.
virtual void	onFootprintChanged ()
	LayeredCostmap calls this whenever the footprint there changes (via LayeredCostmap::setFootprint()). Override to be notified of changes to the robot's footprint.
std::string	getName () const
	Get the name of the costmap layer.
bool	isCurrent () const
	Check to make sure all the data in the layer is up to date. If the layer is not up to date, then it may be unsafe to plan using the data from this layer, and the planner may need to know. More...
bool	isEnabled () const
	Gets whether the layer is enabled.
const std::vector< geometry_msgs::msg::Point > &	getFootprint () const
	Convenience function for layered_costmap_->getFootprint().
void	declareParameter (const std::string &param_name, const rclcpp::ParameterValue &value)
	Convenience functions for declaring ROS parameters.
void	declareParameter (const std::string &param_name, const rclcpp::ParameterType &param_type)
	Convenience functions for declaring ROS parameters.
bool	hasParameter (const std::string &param_name)
	Convenience functions for declaring ROS parameters.
std::string	getFullName (const std::string &param_name)
	Convenience functions for declaring ROS parameters.

Protected Member Functions
virtual void	onInitialize ()
	This is called at the end of initialize(). Override to implement subclass-specific initialization. More...

Protected Attributes
LayeredCostmap *	layered_costmap_
std::string	name_
tf2_ros::Buffer *	tf_
rclcpp::CallbackGroup::SharedPtr	callback_group_
rclcpp_lifecycle::LifecycleNode::WeakPtr	node_
rclcpp::Clock::SharedPtr	clock_
rclcpp::Logger	logger_ {rclcpp::get_logger("nav2_costmap_2d")}
bool	current_
bool	enabled_
std::unordered_set< std::string >	local_params_

Detailed Description

Abstract class for layered costmap plugin implementations.

Definition at line 58 of file layer.hpp.

Member Function Documentation

isCurrent()

bool nav2_costmap_2d::Layer::isCurrent ( ) const

inline

Check to make sure all the data in the layer is up to date. If the layer is not up to date, then it may be unsafe to plan using the data from this layer, and the planner may need to know.

A layer's current state should be managed by the protected variable current_.

Returns

Whether the data in the layer is up to date.

Definition at line 137 of file layer.hpp.

onInitialize()

virtual void nav2_costmap_2d::Layer::onInitialize ( )

inlineprotectedvirtual

This is called at the end of initialize(). Override to implement subclass-specific initialization.

tf_, name_, and layered_costmap_ will all be set already when this is called.

Reimplemented in nav2_costmap_2d::InflationLayer, nav2_costmap_2d::DenoiseLayer, nav2_costmap_2d::CostmapFilter, nav2_costmap_2d::VoxelLayer, nav2_costmap_2d::StaticLayer, nav2_costmap_2d::RangeSensorLayer, and nav2_costmap_2d::ObstacleLayer.

Definition at line 178 of file layer.hpp.

Referenced by initialize().

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updateBounds()

virtual void nav2_costmap_2d::Layer::updateBounds ( double  robot_x, double  robot_y, double  robot_yaw, double *  min_x, double *  min_y, double *  max_x, double *  max_y  )

pure virtual

This is called by the LayeredCostmap to poll this plugin as to how much of the costmap it needs to update. Each layer can increase the size of this bounds.

For more details, see "Layered Costmaps for Context-Sensitive Navigation", by Lu et. Al, IROS 2014.

Implemented in nav2_costmap_2d::InflationLayer, nav2_costmap_2d::DenoiseLayer, nav2_costmap_2d::CostmapFilter, nav2_costmap_2d::VoxelLayer, nav2_costmap_2d::StaticLayer, nav2_costmap_2d::RangeSensorLayer, and nav2_costmap_2d::ObstacleLayer.

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

• nav2_costmap_2d/include/nav2_costmap_2d/layer.hpp
• nav2_costmap_2d/src/layer.cpp