Layer to convolve costmap by robot's radius or footprint using Eigen-based Felzenszwalb-Huttenlocher O(n) distance transform for improved performance. More...

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

Inheritance diagram for nav2_costmap_2d::InflationLayer:

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Public Member Functions
	InflationLayer ()
	A constructor.

	~InflationLayer ()
	A destructor.

void	onInitialize () override
	Initialization process of layer on startup.

void	deactivate () override
	Deactivate the layer.

void	activate () override
	Activate the layer.

void	updateBounds (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y) override
	Update the bounds of the master costmap by this layer's update dimensions. More...

void	updateCosts (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j) override
	Update the costs in the master costmap in the window. More...

void	matchSize () override
	Match the size of the master costmap.

bool	isClearable () override
	If clearing operations should be processed on this layer or not.

void	reset () override
	Reset this costmap.

unsigned char	computeCost (double distance) const override
	Given a distance, compute a cost. More...

mutex_t *	getMutex () override
	Get the mutex of the inflation information.

double	getCostScalingFactor () override
	Get the cost scaling factor. More...

double	getInflationRadius () override
	Get the inflation radius. More...

Public Member Functions inherited from nav2_costmap_2d::Layer
	Layer ()
	A constructor.

virtual	~Layer ()
	A destructor.

void	initialize (LayeredCostmap parent, std::string name, nav2::TransformBuffer tf, const nav2::LifecycleNode::WeakPtr &node, rclcpp::CallbackGroup::SharedPtr callback_group)
	Initialization process of layer on startup.

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...

void	setCurrent (bool current)
	Set whether the data in the layer is up to date. 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().

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	applyInflation (unsigned char *master_array, const MatrixXfRM &distance_map, int min_i, int min_j, int max_i, int max_j, int roi_min_i, int roi_min_j, unsigned int size_x)
	Apply inflation costs from distance map to costmap. More...

void	onFootprintChanged () override
	Process updates on footprint changes to the inflation layer.

unsigned int	cellDistance (double world_dist)
	Convert world distance to cell distance.

void	computeCaches ()
	Generate cost lookup table for distance to cost mapping.

int	getOptimalThreadCount ()
	Determine optimal thread count based on system resources. More...

rcl_interfaces::msg::SetParametersResult	validateParameterUpdatesCallback (const std::vector< rclcpp::Parameter > &parameters)
	Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations. More...

void	updateParametersCallback (const std::vector< rclcpp::Parameter > &parameters)
	Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values. More...

void	updateInscribedRadius ()
	Update inscribed_radius_ from custom_inscribed_radius_ or the footprint, logging a warning when the custom value is in use.

Protected Attributes
double	inflation_radius_

double	inscribed_radius_

double	custom_inscribed_radius_

double	cost_scaling_factor_

bool	inflate_unknown_

bool	inflate_around_unknown_

unsigned int	cell_inflation_radius_

int	num_threads_

double	resolution_

std::vector< unsigned char >	cost_lut_

double	last_min_x_

double	last_min_y_

double	last_max_x_

double	last_max_y_

bool	need_reinflation_

mutex_t *	access_

rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr	post_set_params_handler_

rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr	on_set_params_handler_

Protected Attributes inherited from nav2_costmap_2d::Layer
LayeredCostmap *	layered_costmap_

std::string	name_

nav2::TransformBuffer *	tf_

rclcpp::CallbackGroup::SharedPtr	callback_group_

nav2::LifecycleNode::WeakPtr	node_

rclcpp::Clock::SharedPtr	clock_

rclcpp::Logger	logger_ {rclcpp::get_logger("nav2_costmap_2d")}

std::atomic_bool	current_

bool	enabled_

Static Protected Attributes
static constexpr int	COST_LUT_PRECISION = 100

Additional Inherited Members
Public Types inherited from nav2_costmap_2d::InflationLayerInterface
typedef std::recursive_mutex	mutex_t

Static Public Member Functions inherited from nav2_costmap_2d::InflationLayerInterface
static std::shared_ptr< InflationLayerInterface >	getInflationLayer (std::shared_ptr< nav2_costmap_2d::Costmap2DROS > &costmap_ros, const std::string layer_name="")
	Get the inflation layer from a costmap, checking for both InflationLayer and LegacyInflationLayer implementations. More...

Detailed Description

Layer to convolve costmap by robot's radius or footprint using Eigen-based Felzenszwalb-Huttenlocher O(n) distance transform for improved performance.

Definition at line 43 of file inflation_layer.hpp.

Member Function Documentation

◆ applyInflation()

void nav2_costmap_2d::InflationLayer::applyInflation	(	unsigned char *	master_array,
		const MatrixXfRM &	distance_map,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j,
		int	roi_min_i,
		int	roi_min_j,
		unsigned int	size_x
	)

protected

Apply inflation costs from distance map to costmap.

Parameters

master_array	Pointer to the costmap data
distance_map	Distance transform result
min_i	Minimum x index of update region
min_j	Minimum y index of update region
max_i	Maximum x index of update region
max_j	Maximum y index of update region
roi_min_i	ROI minimum x offset
roi_min_j	ROI minimum y offset
size_x	Width of the costmap

Definition at line 237 of file inflation_layer.cpp.

References getOptimalThreadCount().

Referenced by updateCosts().

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◆ computeCost()

unsigned char nav2_costmap_2d::InflationLayer::computeCost ( double distance ) const

inlineoverridevirtual

Given a distance, compute a cost.

Parameters

distance The distance from an obstacle in cells.

Returns: A cost value for the distance

Implements nav2_costmap_2d::InflationLayerInterface.

Definition at line 121 of file inflation_layer.hpp.

Referenced by computeCaches().

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◆ getCostScalingFactor()

double nav2_costmap_2d::InflationLayer::getCostScalingFactor ( )

inlineoverridevirtual

Get the cost scaling factor.

Returns: The cost scaling factor

Implements nav2_costmap_2d::InflationLayerInterface.

Definition at line 145 of file inflation_layer.hpp.

Referenced by updateParametersCallback().

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◆ getInflationRadius()

double nav2_costmap_2d::InflationLayer::getInflationRadius ( )

inlineoverridevirtual

Get the inflation radius.

Returns: The inflation radius in meters

Implements nav2_costmap_2d::InflationLayerInterface.

Definition at line 150 of file inflation_layer.hpp.

◆ getOptimalThreadCount()

int nav2_costmap_2d::InflationLayer::getOptimalThreadCount ( )

protected

Determine optimal thread count based on system resources.

Returns: Optimal number of OpenMP threads to use

Definition at line 182 of file inflation_layer.cpp.

Referenced by applyInflation(), and updateCosts().

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◆ updateBounds()

void nav2_costmap_2d::InflationLayer::updateBounds	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

overridevirtual

Update the bounds of the master costmap by this layer's update dimensions.

Parameters

robot_x	X pose of robot
robot_y	Y pose of robot
robot_yaw	Robot orientation
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 149 of file inflation_layer.cpp.

References getMutex().

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◆ updateCosts()

void nav2_costmap_2d::InflationLayer::updateCosts	(	nav2_costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)

overridevirtual

Update the costs in the master costmap in the window.

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 283 of file inflation_layer.cpp.

References applyInflation(), nav2_costmap_2d::DistanceTransform::distanceTransform2D(), nav2_costmap_2d::DistanceTransform::DT_INF, nav2_costmap_2d::Costmap2D::getCharMap(), getMutex(), getOptimalThreadCount(), nav2_costmap_2d::Costmap2D::getSizeInCellsX(), nav2_costmap_2d::Costmap2D::getSizeInCellsY(), and nav2_costmap_2d::Layer::setCurrent().

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◆ updateParametersCallback()

void nav2_costmap_2d::InflationLayer::updateParametersCallback ( const std::vector< rclcpp::Parameter > & parameters )

protected

Apply parameter updates after validation This callback is executed when parameters have been successfully updated. It updates the internal configuration of the node with the new parameter values.

Parameters

parameters List of parameters that have been updated.

Definition at line 396 of file inflation_layer.cpp.

References getCostScalingFactor(), getMutex(), matchSize(), nav2_costmap_2d::Layer::setCurrent(), and updateInscribedRadius().

Referenced by activate().

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◆ validateParameterUpdatesCallback()

rcl_interfaces::msg::SetParametersResult nav2_costmap_2d::InflationLayer::validateParameterUpdatesCallback ( const std::vector< rclcpp::Parameter > & parameters )

protected

Validate incoming parameter updates before applying them. This callback is triggered when one or more parameters are about to be updated. It checks the validity of parameter values and rejects updates that would lead to invalid or inconsistent configurations.

Parameters

parameters List of parameters that are being updated.

Returns: rcl_interfaces::msg::SetParametersResult Result indicating whether the update is accepted.

Definition at line 369 of file inflation_layer.cpp.

Referenced by activate().

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

nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.hpp
nav2_costmap_2d/plugins/inflation_layer.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ applyInflation()

◆ computeCost()

◆ getCostScalingFactor()

◆ getInflationRadius()

◆ getOptimalThreadCount()

◆ updateBounds()

◆ updateCosts()

◆ updateParametersCallback()

◆ validateParameterUpdatesCallback()