nav2_smac_planner::CostmapDownsampler Class Reference

A costmap downsampler for more efficient path planning. More...

#include <nav2_smac_planner/include/nav2_smac_planner/costmap_downsampler.hpp>

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Public Member Functions
	CostmapDownsampler ()
	A constructor for CostmapDownsampler.
	~CostmapDownsampler ()
	A destructor for CostmapDownsampler.
void	on_configure (const nav2_util::LifecycleNode::WeakPtr &node, const std::string &global_frame, const std::string &topic_name, nav2_costmap_2d::Costmap2D *const costmap, const unsigned int &downsampling_factor, const bool &use_min_cost_neighbor=false)
	Configure the downsampled costmap object and the ROS publisher. More...
void	on_activate ()
	Activate the publisher of the downsampled costmap.
void	on_deactivate ()
	Deactivate the publisher of the downsampled costmap.
void	on_cleanup ()
	Cleanup the publisher of the downsampled costmap.
nav2_costmap_2d::Costmap2D *	downsample (const unsigned int &downsampling_factor)
	Downsample the given costmap by the downsampling factor, and publish the downsampled costmap. More...
void	resizeCostmap ()
	Resize the downsampled costmap. Used in case the costmap changes and we need to update the downsampled version.

Protected Member Functions
void	updateCostmapSize ()
	Update the sizes X-Y of the costmap and its downsampled version.
void	setCostOfCell (const unsigned int &new_mx, const unsigned int &new_my)
	Explore all subcells of the original costmap and assign the max cost to the new (downsampled) cell. More...

Protected Attributes
unsigned int	_size_x
unsigned int	_size_y
unsigned int	_downsampled_size_x
unsigned int	_downsampled_size_y
unsigned int	_downsampling_factor
bool	_use_min_cost_neighbor
float	_downsampled_resolution
nav2_costmap_2d::Costmap2D *	_costmap
std::unique_ptr< nav2_costmap_2d::Costmap2D >	_downsampled_costmap
std::unique_ptr< nav2_costmap_2d::Costmap2DPublisher >	_downsampled_costmap_pub

Detailed Description

A costmap downsampler for more efficient path planning.

Definition at line 32 of file costmap_downsampler.hpp.

Member Function Documentation

downsample()

nav2_costmap_2d::Costmap2D * nav2_smac_planner::CostmapDownsampler::downsample

(

const unsigned int &

downsampling_factor

)

Downsample the given costmap by the downsampling factor, and publish the downsampled costmap.

Parameters

downsampling_factor

Multiplier for the costmap resolution

Returns

A ptr to the downsampled costmap

Definition at line 80 of file costmap_downsampler.cpp.

References resizeCostmap(), setCostOfCell(), and updateCostmapSize().

Referenced by nav2_smac_planner::NodeHybrid::resetObstacleHeuristic().

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on_configure()

void nav2_smac_planner::CostmapDownsampler::on_configure	(	const nav2_util::LifecycleNode::WeakPtr &	node,
		const std::string &	global_frame,
		const std::string &	topic_name,
		nav2_costmap_2d::Costmap2D *const	costmap,
		const unsigned int &	downsampling_factor,
		const bool &	use_min_cost_neighbor = false
	)

Configure the downsampled costmap object and the ROS publisher.

Parameters

node	Lifecycle node pointer
global_frame	The ID of the global frame used by the costmap
topic_name	The name of the topic to publish the downsampled costmap
costmap	The costmap we want to downsample
downsampling_factor	Multiplier for the costmap resolution
use_min_cost_neighbor	If true, min function is used instead of max for downsampling

Definition at line 36 of file costmap_downsampler.cpp.

References nav2_costmap_2d::Costmap2D::getOriginX(), nav2_costmap_2d::Costmap2D::getOriginY(), and updateCostmapSize().

Referenced by nav2_smac_planner::NodeHybrid::resetObstacleHeuristic().

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setCostOfCell()

void nav2_smac_planner::CostmapDownsampler::setCostOfCell ( const unsigned int &  new_mx, const unsigned int &  new_my  )

protected

Explore all subcells of the original costmap and assign the max cost to the new (downsampled) cell.

Parameters

new_mx	The X-coordinate of the cell in the new costmap
new_my	The Y-coordinate of the cell in the new costmap

Definition at line 126 of file costmap_downsampler.cpp.

References nav2_costmap_2d::Costmap2D::getCost().

Referenced by downsample().

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

• nav2_smac_planner/include/nav2_smac_planner/costmap_downsampler.hpp
• nav2_smac_planner/src/costmap_downsampler.cpp