Instantiates different layer plugins and aggregates them into one score. More...
#include <nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.hpp>
Public Member Functions | |
| LayeredCostmap (std::string global_frame, bool rolling_window, bool track_unknown) | |
| Constructor for a costmap. | |
| ~LayeredCostmap () | |
| Destructor. | |
| void | updateMap (double robot_x, double robot_y, double robot_yaw) |
| Update the underlying costmap with new data. If you want to update the map outside of the update loop that runs, you can call this. | |
| std::string | getGlobalFrameID () const |
| void | resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y, bool size_locked=false) |
| Resize the map to a new size, resolution, or origin. | |
| void | getUpdatedBounds (double &minx, double &miny, double &maxx, double &maxy) |
| Get the size of the bounds for update. | |
| bool | isCurrent () |
| If the costmap is current, e.g. are all the layers processing recent data and not stale information for a good state. | |
| Costmap2D * | getCostmap () |
| Get the costmap pointer to the master costmap. | |
| bool | isRolling () |
| If this costmap is rolling or not. | |
| bool | isTrackingUnknown () |
| If this costmap is tracking unknown space or not. | |
| std::vector< std::shared_ptr< Layer > > * | getPlugins () |
| Get the vector of pointers to the costmap plugins. | |
| std::vector< std::shared_ptr< Layer > > * | getFilters () |
| Get the vector of pointers to the costmap filters. | |
| void | addPlugin (std::shared_ptr< Layer > plugin) |
| Add a new plugin to the plugins vector to process. | |
| void | addFilter (std::shared_ptr< Layer > filter) |
| Add a new costmap filter plugin to the filters vector to process. | |
| bool | isSizeLocked () |
| Get if the size of the costmap is locked. | |
| void | getBounds (unsigned int *x0, unsigned int *xn, unsigned int *y0, unsigned int *yn) |
| Get the bounds of the costmap. | |
| bool | isInitialized () |
| if the costmap is initialized | |
| void | setFootprint (const std::vector< geometry_msgs::msg::Point > &footprint_spec) |
| Updates the stored footprint, updates the circumscribed and inscribed radii, and calls onFootprintChanged() in all layers. | |
| const std::vector< geometry_msgs::msg::Point > & | getFootprint () |
| Returns the latest footprint stored with setFootprint(). | |
| double | getCircumscribedRadius () |
| The radius of a circle centered at the origin of the robot which just surrounds all points on the robot's footprint. More... | |
| double | getInscribedRadius () |
| The radius of a circle centered at the origin of the robot which is just within all points and edges of the robot's footprint. More... | |
| bool | isOutofBounds (double robot_x, double robot_y) |
| Checks if the robot is outside the bounds of its costmap in the case of poorly configured setups. | |
Detailed Description
Instantiates different layer plugins and aggregates them into one score.
Definition at line 57 of file layered_costmap.hpp.
Member Function Documentation
◆ getCircumscribedRadius()
|
inline |
The radius of a circle centered at the origin of the robot which just surrounds all points on the robot's footprint.
This is updated by setFootprint().
Definition at line 201 of file layered_costmap.hpp.
◆ getInscribedRadius()
|
inline |
The radius of a circle centered at the origin of the robot which is just within all points and edges of the robot's footprint.
This is updated by setFootprint().
Definition at line 208 of file layered_costmap.hpp.
Referenced by nav2_costmap_2d::InflationLayer::onFootprintChanged().
The documentation for this class was generated from the following files:
- nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.hpp
- nav2_costmap_2d/src/layered_costmap.cpp
