nav2_costmap_2d::ClearCostmapService Class Reference

Exposes services to clear costmap objects in inclusive/exclusive regions or completely. More...

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

Public Member Functions
	ClearCostmapService (const nav2::LifecycleNode::WeakPtr &parent, Costmap2DROS &costmap)
	A constructor.
	ClearCostmapService ()=delete
	A constructor.
	~ClearCostmapService ()
	A destructor.
bool	clearRegion (double reset_distance, bool invert, const std::vector< std::string > &plugins)
	Clears the region outside of a user-specified area reverting to the static map. More...
bool	clearAroundPose (const geometry_msgs::msg::PoseStamped &pose, double reset_distance, const std::vector< std::string > &plugins)
	Clears the region around a specific pose. More...
bool	clearEntirely (const std::vector< std::string > &plugins)
	Clears the entire layer. More...

Detailed Description

Exposes services to clear costmap objects in inclusive/exclusive regions or completely.

Definition at line 41 of file clear_costmap_service.hpp.

Member Function Documentation

clearAroundPose()

bool nav2_costmap_2d::ClearCostmapService::clearAroundPose	(	const geometry_msgs::msg::PoseStamped &	pose,
		double	reset_distance,
		const std::vector< std::string > &	plugins
	)

Clears the region around a specific pose.

Returns

true if the requested plugins were successfully cleared, false otherwise

Definition at line 134 of file clear_costmap_service.cpp.

References nav2_costmap_2d::Costmap2DROS::getGlobalFrameID(), nav2_costmap_2d::Costmap2DROS::getLayeredCostmap(), and nav2_costmap_2d::LayeredCostmap::getPlugins().

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clearEntirely()

bool nav2_costmap_2d::ClearCostmapService::clearEntirely

(

const std::vector< std::string > &

plugins

)

Clears the entire layer.

Returns

true if the requested plugins were successfully cleared, false otherwise

Definition at line 237 of file clear_costmap_service.cpp.

References nav2_costmap_2d::Costmap2DROS::getCostmap(), nav2_costmap_2d::Costmap2DROS::getLayeredCostmap(), nav2_costmap_2d::Costmap2DROS::getName(), nav2_costmap_2d::LayeredCostmap::getPlugins(), nav2_costmap_2d::Costmap2D::getSizeInCellsX(), nav2_costmap_2d::Costmap2D::getSizeInCellsY(), nav2_costmap_2d::Costmap2DROS::resetLayers(), and nav2_costmap_2d::Costmap2D::resetMap().

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clearRegion()

bool nav2_costmap_2d::ClearCostmapService::clearRegion	(	double	reset_distance,
		bool	invert,
		const std::vector< std::string > &	plugins
	)

Clears the region outside of a user-specified area reverting to the static map.

Returns

true if the requested plugins were successfully cleared, false otherwise

Definition at line 181 of file clear_costmap_service.cpp.

References nav2_costmap_2d::Costmap2DROS::getLayeredCostmap(), and nav2_costmap_2d::LayeredCostmap::getPlugins().

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

• nav2_costmap_2d/include/nav2_costmap_2d/clear_costmap_service.hpp
• nav2_costmap_2d/src/clear_costmap_service.cpp