Subclass of CostmapQueue that avoids Obstacles and Unknown Values. More...

Inheritance diagram for dwb_critics::MapGridCritic::MapGridQueue:

Collaboration diagram for dwb_critics::MapGridCritic::MapGridQueue:

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Public Member Functions
	MapGridQueue (nav2_costmap_2d::Costmap2D &costmap, MapGridCritic &parent)

bool	validCellToQueue (const costmap_queue::CellData &cell) override
	Check to see if we should add this cell to the queue. Always true unless overridden. More...

Public Member Functions inherited from costmap_queue::CostmapQueue
	CostmapQueue (nav2_costmap_2d::Costmap2D &costmap, bool manhattan=false)
	constructor More...

void	reset () override
	Clear the queue.

void	enqueueCell (unsigned int x, unsigned int y)
	Add a cell the queue. More...

CellData	getNextCell ()
	Get the next cell to examine, and enqueue its neighbors as needed. More...

Public Member Functions inherited from costmap_queue::MapBasedQueue< CellData >
	MapBasedQueue (bool reset_bins=true)
	Default Constructor.

virtual	~MapBasedQueue ()=default
	Default virtual Destructor.

void	enqueue (const double priority, CellData item)
	Add a new item to the queue with a set priority. More...

bool	isEmpty ()
	Check to see if there is anything in the queue. More...

CellData &	front ()
	Return the item at the front of the queue. More...

void	pop ()
	Remove (and destroy) the item at the front of the queue.

Protected Attributes
MapGridCritic &	parent_

Protected Attributes inherited from costmap_queue::CostmapQueue
nav2_costmap_2d::Costmap2D &	costmap_

std::vector< bool >	seen_

int	max_distance_

bool	manhattan_

std::vector< std::vector< double > >	cached_distances_

int	cached_max_distance_

Protected Attributes inherited from costmap_queue::MapBasedQueue< CellData >
bool	reset_bins_

ItemMap	item_bins_

unsigned int	item_count_

ItemMapIterator	iter_

ItemMapIterator	last_insert_iter_

Additional Inherited Members
Public Types inherited from costmap_queue::CostmapQueue
typedef std::shared_ptr< CostmapQueue >	Ptr
	convenience typedef for a pointer

Protected Types inherited from costmap_queue::MapBasedQueue< CellData >
using	ItemMap = std::map< double, std::vector< CellData > >

using	ItemMapIterator = typename ItemMap::iterator

Protected Member Functions inherited from costmap_queue::CostmapQueue
void	enqueueCell (unsigned int index, unsigned int cur_x, unsigned int cur_y, unsigned int src_x, unsigned int src_y)
	Enqueue a cell with the given coordinates and the given source cell.

void	computeCache ()
	Compute the cached distances.

double	distanceLookup (const unsigned int cur_x, const unsigned int cur_y, const unsigned int src_x, const unsigned int src_y)
	Lookup pre-computed distances. More...

Detailed Description

Subclass of CostmapQueue that avoids Obstacles and Unknown Values.

Definition at line 111 of file map_grid.hpp.

Member Function Documentation

bool dwb_critics::MapGridCritic::MapGridQueue::validCellToQueue ( const costmap_queue::CellData & )

overridevirtual

Check to see if we should add this cell to the queue. Always true unless overridden.

Parameters

cell	The cell to check

Definition at line 53 of file map_grid.cpp.

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