Public Member Functions
None	__init__ (self, OccupancyGrid occupancy_map)

int	getSizeInCellsX (self)

int	getSizeInCellsY (self)

float	getSizeInMetersX (self)

float	getSizeInMetersY (self)

float	getOriginX (self)

float	getOriginY (self)

float	getResolution (self)

str	getGlobalFrameID (self)

Time	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)

tuple[Optional[int], Optional[int]]	worldToMapValidated (self, float wx, float wy)

int	getIndex (self, int mx, int my)

Detailed Description

PyCostmap2D.

Costmap Python3 API for OccupancyGrids to populate from published messages

Definition at line 34 of file costmap_2d.py.

Constructor & Destructor Documentation

◆ init()

None nav2_simple_commander.costmap_2d.PyCostmap2D.__init__	(		self,
		OccupancyGrid	occupancy_map
	)

Initialize costmap2D.

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

Returns
-------
    None

Definition at line 41 of file costmap_2d.py.

References nav2_voxel_grid::VoxelGrid.costmap, map_t.origin_x, map_t.origin_y, nav2_map_server::LoadParameters.resolution, map_t.size_x, nav2_smac_planner::HybridMotionTable.size_x, nav2_smac_planner::LatticeMotionTable.size_x, and map_t.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 116 of file costmap_2d.py.

References nav2_voxel_grid::VoxelGrid.costmap.

◆ getCostmapTimestamp()

Time nav2_simple_commander.costmap_2d.PyCostmap2D.getCostmapTimestamp ( self )

Get costmap timestamp.

Definition at line 96 of file costmap_2d.py.

◆ 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 100 of file costmap_2d.py.

References 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()

str nav2_simple_commander.costmap_2d.PyCostmap2D.getGlobalFrameID ( self )

Get global frame_id.

Definition at line 92 of file costmap_2d.py.

◆ 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 193 of file costmap_2d.py.

References map_t.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()

float nav2_simple_commander.costmap_2d.PyCostmap2D.getOriginX ( self )

Get the origin x axis of the map [m].

Definition at line 80 of file costmap_2d.py.

References map_t.origin_x.

◆ getOriginY()

float nav2_simple_commander.costmap_2d.PyCostmap2D.getOriginY ( self )

Get the origin y axis of the map [m].

Definition at line 84 of file costmap_2d.py.

References map_t.origin_y.

◆ getResolution()

float nav2_simple_commander.costmap_2d.PyCostmap2D.getResolution ( self )

Get map resolution [m/cell].

Definition at line 88 of file costmap_2d.py.

References nav2_map_server::LoadParameters.resolution.

◆ getSizeInCellsX()

int nav2_simple_commander.costmap_2d.PyCostmap2D.getSizeInCellsX ( self )

Get map width in cells.

Definition at line 64 of file costmap_2d.py.

References map_t.size_x, nav2_smac_planner::HybridMotionTable.size_x, and nav2_smac_planner::LatticeMotionTable.size_x.

◆ getSizeInCellsY()

int nav2_simple_commander.costmap_2d.PyCostmap2D.getSizeInCellsY ( self )

Get map height in cells.

Definition at line 68 of file costmap_2d.py.

References map_t.size_y.

◆ getSizeInMetersX()

float nav2_simple_commander.costmap_2d.PyCostmap2D.getSizeInMetersX ( self )

Get x axis map size in meters.

Definition at line 72 of file costmap_2d.py.

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

◆ getSizeInMetersY()

float nav2_simple_commander.costmap_2d.PyCostmap2D.getSizeInMetersY ( self )

Get y axis map size in meters.

Definition at line 76 of file costmap_2d.py.

References nav2_map_server::LoadParameters.resolution, and map_t.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 148 of file costmap_2d.py.

References map_t.origin_x, map_t.origin_y, and nav2_map_server::LoadParameters.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 131 of file costmap_2d.py.