nav2_costmap_2d::DenoiseLayer Class Reference

Layer filters noise-induced standalone obstacles (white costmap pixels) or small obstacles groups. More...

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

Inheritance diagram for nav2_costmap_2d::DenoiseLayer:

Collaboration diagram for nav2_costmap_2d::DenoiseLayer:

Public Member Functions
void	reset () override
	Reset this layer.
bool	isClearable () override
	Reports that no clearing operation is required.
void	updateBounds (double robot_x, double robot_y, double robot_yaw, double *min_x, double *min_y, double *max_x, double *max_y) override
	Reports that no expansion is required The method is called to ask the plugin: which area of costmap it needs to update. A layer is essentially a filter, so it never needs to expand bounds.
void	updateCosts (nav2_costmap_2d::Costmap2D &master_grid, int min_x, int min_y, int max_x, int max_y) override
	Filters noise-induced obstacles in the selected region of the costmap The method is called when costmap recalculation is required. It updates the costmap within its window bounds. More...
Public Member Functions inherited from nav2_costmap_2d::Layer
	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	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.
std::string	joinWithParentNamespace (const std::string &topic)

Protected Member Functions
void	onInitialize () override
	Initializes the layer on startup This method is called at the end of plugin initialization. Reads plugin parameters from a config file.

Friends
class	DenoiseLayerTester

Additional Inherited Members
Protected Attributes inherited from nav2_costmap_2d::Layer
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

Layer filters noise-induced standalone obstacles (white costmap pixels) or small obstacles groups.

Definition at line 28 of file denoise_layer.hpp.

Member Function Documentation

updateCosts()

void nav2_costmap_2d::DenoiseLayer::updateCosts ( nav2_costmap_2d::Costmap2D &  master_grid, int  min_x, int  min_y, int  max_x, int  max_y  )

overridevirtual

Filters noise-induced obstacles in the selected region of the costmap The method is called when costmap recalculation is required. It updates the costmap within its window bounds.

Parameters

master_grid	The master costmap grid to update
min_x	X min map coord of the window to update
min_y	Y min map coord of the window to update
max_x	X max map coord of the window to update
max_y	Y max map coord of the window to update

Implements nav2_costmap_2d::Layer.

Definition at line 102 of file denoise_layer.cpp.

References nav2_costmap_2d::Costmap2D::getCharMap(), nav2_costmap_2d::Costmap2D::getDefaultValue(), and nav2_costmap_2d::Costmap2D::getSizeInCellsX().

Here is the call graph for this function:

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

• nav2_costmap_2d/include/nav2_costmap_2d/denoise_layer.hpp
• nav2_costmap_2d/plugins/denoise_layer.cpp