nav2_util::Costmap Class Reference

Class for a single layered costmap initialized from an occupancy grid representing the map. More...

#include <nav2_util/include/nav2_util/costmap.hpp>

Public Types
typedef uint8_t	CostValue

Public Member Functions
	Costmap (rclcpp::Node *node, bool trinary_costmap=true, bool track_unknown_space=true, int lethal_threshold=100, int unknown_cost_value=-1)
	A constructor for nav2_util::Costmap. More...
void	set_static_map (const nav_msgs::msg::OccupancyGrid &occupancy_grid)
	Set the static map of this costmap. More...
void	set_test_costmap (const TestCostmap &testCostmapType)
	Set the test costmap type of this costmap. More...
nav2_msgs::msg::Costmap	get_costmap (const nav2_msgs::msg::CostmapMetaData &specifications)
	Get a costmap message from this object. More...
nav2_msgs::msg::CostmapMetaData	get_properties ()
	Get a metadata message from this object. More...
bool	is_free (const unsigned int x_coordinate, const unsigned int y_coordinate) const
	Get whether some coordinates are free. More...
bool	is_free (const unsigned int index) const
	Get whether some index in the costmap is free. More...

Static Public Attributes
static const CostValue	no_information = 255
static const CostValue	lethal_obstacle = 254
static const CostValue	inscribed_inflated_obstacle = 253
static const CostValue	medium_cost = 128
static const CostValue	free_space = 0

Detailed Description

Class for a single layered costmap initialized from an occupancy grid representing the map.

Definition at line 44 of file costmap.hpp.

Constructor & Destructor Documentation

Costmap()

nav2_util::Costmap::Costmap	(	rclcpp::Node *	node,
		bool	trinary_costmap = true,
		bool	track_unknown_space = true,
		int	lethal_threshold = 100,
		int	unknown_cost_value = -1
	)

A constructor for nav2_util::Costmap.

Parameters

node	Ptr to a node
trinary_costmap	Whether the costmap should be trinary
track_unknown_space	Whether to track unknown space in costmap
lethal_threshold	The lethal space cost threshold to use
unknown_cost_value	Internal costmap cell value for unknown space

Definition at line 34 of file costmap.cpp.

Member Function Documentation

get_costmap()

nav2_msgs::msg::Costmap nav2_util::Costmap::get_costmap

(

const nav2_msgs::msg::CostmapMetaData &

specifications

)

Get a costmap message from this object.

Parameters

specifications

Parameters of costmap

Returns

Costmap msg of this costmap

Definition at line 108 of file costmap.cpp.

get_properties()

nav2_msgs::msg::CostmapMetaData nav2_util::Costmap::get_properties ( )

inline

Get a metadata message from this object.

Returns

Costmap metadata of this costmap

Definition at line 86 of file costmap.hpp.

is_free() [1/2]

bool nav2_util::Costmap::is_free

(

const unsigned int

index

)

const

Get whether some index in the costmap is free.

Returns

bool if free

Definition at line 257 of file costmap.cpp.

is_free() [2/2]

bool nav2_util::Costmap::is_free	(	const unsigned int	x_coordinate,
		const unsigned int	y_coordinate
	)		const

Get whether some coordinates are free.

Returns

bool if free

Definition at line 250 of file costmap.cpp.

set_static_map()

void nav2_util::Costmap::set_static_map

(

const nav_msgs::msg::OccupancyGrid &

occupancy_grid

)

Set the static map of this costmap.

Parameters

occupancy_grid

Occupancy grid to populate this costmap with

Definition at line 52 of file costmap.cpp.

set_test_costmap()

void nav2_util::Costmap::set_test_costmap

(

const TestCostmap &

testCostmapType

)

Set the test costmap type of this costmap.

Parameters

testCostmapType

Type of stored costmap to use

Definition at line 87 of file costmap.cpp.

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

• nav2_util/include/nav2_util/costmap.hpp
• nav2_util/src/costmap.cpp