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nav2_simple_commander.costmap_2d.PyCostmap2D Class Reference

Public Member Functions

def __init__ (self, occupancy_map)
 
def getSizeInCellsX (self)
 
def getSizeInCellsY (self)
 
def getSizeInMetersX (self)
 
def getSizeInMetersY (self)
 
def getOriginX (self)
 
def getOriginY (self)
 
def getResolution (self)
 
def getGlobalFrameID (self)
 
def getCostmapTimestamp (self)
 
np.uint8 getCostXY (self, int mx, int my)
 
np.uint8 getCostIdx (self, int index)
 
None setCost (self, int mx, int my, np.uint8 cost)
 
tuple[float, float] mapToWorld (self, int mx, int my)
 
def worldToMapValidated (self, float wx, float wy)
 
int getIndex (self, int mx, int my)
 

Public Attributes

 size_x
 
 size_y
 
 resolution
 
 origin_x
 
 origin_y
 
 global_frame_id
 
 costmap_timestamp
 
 costmap
 

Detailed Description

PyCostmap2D.

Costmap Python3 API for OccupancyGrids to populate from published messages

Definition at line 29 of file costmap_2d.py.

Constructor & Destructor Documentation

◆ __init__()

def nav2_simple_commander.costmap_2d.PyCostmap2D.__init__ (   self,
  occupancy_map 
) 
Initialize costmap2D.

Args
----
    occupancy_map (OccupancyGrid): 2D OccupancyGrid Map

Returns
-------
    None

Definition at line 36 of file costmap_2d.py.

References nav2_simple_commander.costmap_2d.PyCostmap2D.costmap, nav2_voxel_grid::VoxelGrid.costmap, nav2_simple_commander.costmap_2d.PyCostmap2D.costmap_timestamp, nav2_simple_commander.costmap_2d.PyCostmap2D.global_frame_id, map_t.origin_x, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_x, map_t.origin_y, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_y, nav2_map_server::LoadParameters.resolution, nav2_simple_commander.costmap_2d.PyCostmap2D.resolution, map_t.size_x, nav2_simple_commander.costmap_2d.PyCostmap2D.size_x, nav2_smac_planner::HybridMotionTable.size_x, nav2_smac_planner::LatticeMotionTable.size_x, map_t.size_y, and nav2_simple_commander.costmap_2d.PyCostmap2D.size_y.

Member Function Documentation

◆ getCostIdx()

np.uint8 nav2_simple_commander.costmap_2d.PyCostmap2D.getCostIdx (   self,
int  index 
) 
Get the cost of a cell in the costmap using Index.

Args
----
    index (int): index of cell to get cost

Returns
-------
    np.uint8: cost of a cell

Definition at line 111 of file costmap_2d.py.

References nav2_simple_commander.costmap_2d.PyCostmap2D.costmap, and nav2_voxel_grid::VoxelGrid.costmap.

◆ getCostmapTimestamp()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getCostmapTimestamp (   self) 
Get costmap timestamp.

Definition at line 91 of file costmap_2d.py.

References nav2_simple_commander.costmap_2d.PyCostmap2D.costmap_timestamp.

◆ getCostXY()

np.uint8 nav2_simple_commander.costmap_2d.PyCostmap2D.getCostXY (   self,
int  mx,
int  my 
) 
Get the cost of a cell in the costmap using map coordinate XY.

Args
----
    mx (int): map coordinate X to get cost
    my (int): map coordinate Y to get cost

Returns
-------
    np.uint8: cost of a cell

Definition at line 95 of file costmap_2d.py.

References nav2_simple_commander.costmap_2d.PyCostmap2D.costmap, nav2_voxel_grid::VoxelGrid.costmap, nav2_smac_planner::Node2D.getIndex(), nav2_smac_planner::NodeHybrid.getIndex(), nav2_smac_planner::NodeLattice.getIndex(), theta_star::ThetaStar.getIndex(), nav2_simple_commander.costmap_2d.PyCostmap2D.getIndex(), nav2_costmap_2d::Costmap2D.getIndex(), and mppi::critics::CostCritic.getIndex().

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◆ getGlobalFrameID()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getGlobalFrameID (   self) 
Get global frame_id.

Definition at line 87 of file costmap_2d.py.

References nav2_simple_commander.costmap_2d.PyCostmap2D.global_frame_id.

◆ getIndex()

int nav2_simple_commander.costmap_2d.PyCostmap2D.getIndex (   self,
int  mx,
int  my 
) 
Get the index of the cell using map coordinate XY.

Args
----
    mx (int): map coordinate X to get Index
    my (int): map coordinate Y to get Index

Returns
-------
    int: The index of the cell

Definition at line 188 of file costmap_2d.py.

References map_t.size_x, nav2_simple_commander.costmap_2d.PyCostmap2D.size_x, nav2_smac_planner::HybridMotionTable.size_x, and nav2_smac_planner::LatticeMotionTable.size_x.

Referenced by nav2_simple_commander.costmap_2d.PyCostmap2D.getCostXY(), and nav2_simple_commander.costmap_2d.PyCostmap2D.setCost().

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◆ getOriginX()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getOriginX (   self) 
Get the origin x axis of the map [m].

Definition at line 75 of file costmap_2d.py.

References map_t.origin_x, and nav2_simple_commander.costmap_2d.PyCostmap2D.origin_x.

◆ getOriginY()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getOriginY (   self) 
Get the origin y axis of the map [m].

Definition at line 79 of file costmap_2d.py.

References map_t.origin_y, and nav2_simple_commander.costmap_2d.PyCostmap2D.origin_y.

◆ getResolution()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getResolution (   self) 
Get map resolution [m/cell].

Definition at line 83 of file costmap_2d.py.

References nav2_map_server::LoadParameters.resolution, and nav2_simple_commander.costmap_2d.PyCostmap2D.resolution.

◆ getSizeInCellsX()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getSizeInCellsX (   self) 
Get map width in cells.

Definition at line 59 of file costmap_2d.py.

References map_t.size_x, nav2_simple_commander.costmap_2d.PyCostmap2D.size_x, nav2_smac_planner::HybridMotionTable.size_x, and nav2_smac_planner::LatticeMotionTable.size_x.

◆ getSizeInCellsY()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getSizeInCellsY (   self) 
Get map height in cells.

Definition at line 63 of file costmap_2d.py.

References map_t.size_y, and nav2_simple_commander.costmap_2d.PyCostmap2D.size_y.

◆ getSizeInMetersX()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getSizeInMetersX (   self) 
Get x axis map size in meters.

Definition at line 67 of file costmap_2d.py.

References nav2_map_server::LoadParameters.resolution, nav2_simple_commander.costmap_2d.PyCostmap2D.resolution, map_t.size_x, nav2_simple_commander.costmap_2d.PyCostmap2D.size_x, nav2_smac_planner::HybridMotionTable.size_x, and nav2_smac_planner::LatticeMotionTable.size_x.

◆ getSizeInMetersY()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getSizeInMetersY (   self) 
Get y axis map size in meters.

Definition at line 71 of file costmap_2d.py.

References nav2_map_server::LoadParameters.resolution, nav2_simple_commander.costmap_2d.PyCostmap2D.resolution, map_t.size_y, and nav2_simple_commander.costmap_2d.PyCostmap2D.size_y.

◆ mapToWorld()

tuple[float, float] nav2_simple_commander.costmap_2d.PyCostmap2D.mapToWorld (   self,
int  mx,
int  my 
) 
Get the world coordinate XY using map coordinate XY.

Args
----
    mx (int): map coordinate X to get world coordinate
    my (int): map coordinate Y to get world coordinate

Returns
-------
    tuple of float: wx, wy
    wx (float) [m]: world coordinate X
    wy (float) [m]: world coordinate Y

Definition at line 143 of file costmap_2d.py.

References map_t.origin_x, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_x, map_t.origin_y, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_y, nav2_map_server::LoadParameters.resolution, and nav2_simple_commander.costmap_2d.PyCostmap2D.resolution.

◆ setCost()

None nav2_simple_commander.costmap_2d.PyCostmap2D.setCost (   self,
int  mx,
int  my,
np.uint8  cost 
) 
Set the cost of a cell in the costmap using map coordinate XY.

Args
----
    mx (int): map coordinate X to get cost
    my (int): map coordinate Y to get cost
    cost (np.uint8): The cost to set the cell

Returns
-------
    None

Definition at line 126 of file costmap_2d.py.

References nav2_simple_commander.costmap_2d.PyCostmap2D.costmap, nav2_voxel_grid::VoxelGrid.costmap, nav2_smac_planner::Node2D.getIndex(), nav2_smac_planner::NodeHybrid.getIndex(), nav2_smac_planner::NodeLattice.getIndex(), theta_star::ThetaStar.getIndex(), nav2_simple_commander.costmap_2d.PyCostmap2D.getIndex(), nav2_costmap_2d::Costmap2D.getIndex(), and mppi::critics::CostCritic.getIndex().

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◆ worldToMapValidated()

def nav2_simple_commander.costmap_2d.PyCostmap2D.worldToMapValidated (   self,
float  wx,
float  wy 
) 
Get the map coordinate XY using world coordinate XY.

Args
----
    wx (float) [m]: world coordinate X to get map coordinate
    wy (float) [m]: world coordinate Y to get map coordinate

Returns
-------
    (None, None): if coordinates are invalid
    tuple of int: mx, my (if coordinates are valid)
    mx (int): map coordinate X
    my (int): map coordinate Y

Definition at line 163 of file costmap_2d.py.

References map_t.origin_x, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_x, map_t.origin_y, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_y, nav2_map_server::LoadParameters.resolution, nav2_simple_commander.costmap_2d.PyCostmap2D.resolution, map_t.size_x, nav2_simple_commander.costmap_2d.PyCostmap2D.size_x, nav2_smac_planner::HybridMotionTable.size_x, nav2_smac_planner::LatticeMotionTable.size_x, map_t.size_y, and nav2_simple_commander.costmap_2d.PyCostmap2D.size_y.

Referenced by nav2_simple_commander.footprint_collision_checker.FootprintCollisionChecker.footprintCost().

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