Layer to convolve costmap by robot's radius or footprint to prevent collisions and largely simply collision checking. More...

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

Inheritance diagram for nav2_costmap_2d::LegacyInflationLayer:

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Collaboration diagram for nav2_costmap_2d::LegacyInflationLayer:

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Public Member Functions
	LegacyInflationLayer ()
	A constructor.

	~LegacyInflationLayer ()
	A destructor.

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

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.

virtual void	deactivate ()
	Stop publishers.

virtual void	activate ()
	Restart publishers if they've been stopped.

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

double	distanceLookup (unsigned int mx, unsigned int my, unsigned int src_x, unsigned int src_y)
	Lookup pre-computed distances. More...

unsigned char	costLookup (unsigned int mx, unsigned int my, unsigned int src_x, unsigned int src_y)
	Lookup pre-computed costs. More...

void	computeCaches ()
	Compute cached dsitances.

int	generateIntegerDistances ()
	Compute cached dsitances.

unsigned int	cellDistance (double world_dist)
	Compute cached dsitances.

void	enqueue (unsigned int index, unsigned int mx, unsigned int my, unsigned int src_x, unsigned int src_y)
	Enqueue new cells in cache distance update search. More...

rcl_interfaces::msg::SetParametersResult	dynamicParametersCallback (std::vector< rclcpp::Parameter > parameters)
	Callback executed when a parameter change is detected. More...

Protected Attributes
double	inflation_radius_

double	inscribed_radius_

double	cost_scaling_factor_

bool	inflate_unknown_

bool	inflate_around_unknown_

unsigned int	cell_inflation_radius_

unsigned int	cached_cell_inflation_radius_

std::vector< std::vector< CellData > >	inflation_cells_

double	resolution_

std::vector< bool >	seen_

std::vector< unsigned char >	cached_costs_

std::vector< double >	cached_distances_

std::vector< std::vector< int > >	distance_matrix_

unsigned int	cache_length_

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::OnSetParametersCallbackHandle::SharedPtr	dyn_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_

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 to prevent collisions and largely simply collision checking.

Definition at line 81 of file legacy_inflation_layer.hpp.

Member Function Documentation

◆ computeCost()

unsigned char nav2_costmap_2d::LegacyInflationLayer::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 149 of file legacy_inflation_layer.hpp.

Referenced by computeCaches().

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◆ costLookup()

unsigned char nav2_costmap_2d::LegacyInflationLayer::costLookup	(	unsigned int	mx,
		unsigned int	my,
		unsigned int	src_x,
		unsigned int	src_y
	)

inlineprotected

Lookup pre-computed costs.

Parameters

mx	The x coordinate of the current cell
my	The y coordinate of the current cell
src_x	The x coordinate of the source cell
src_y	The y coordinate of the source cell

Returns

Definition at line 214 of file legacy_inflation_layer.hpp.

Referenced by updateCosts().

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◆ distanceLookup()

double nav2_costmap_2d::LegacyInflationLayer::distanceLookup	(	unsigned int	mx,
		unsigned int	my,
		unsigned int	src_x,
		unsigned int	src_y
	)

inlineprotected

Lookup pre-computed distances.

Parameters

mx	The x coordinate of the current cell
my	The y coordinate of the current cell
src_x	The x coordinate of the source cell
src_y	The y coordinate of the source cell

Returns

Definition at line 197 of file legacy_inflation_layer.hpp.

Referenced by enqueue().

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◆ dynamicParametersCallback()

rcl_interfaces::msg::SetParametersResult nav2_costmap_2d::LegacyInflationLayer::dynamicParametersCallback ( std::vector< rclcpp::Parameter > parameters )

protected

Callback executed when a parameter change is detected.

Parameters

event ParameterEvent message

Definition at line 432 of file legacy_inflation_layer.cpp.

References getCostScalingFactor(), getMutex(), and matchSize().

Referenced by onInitialize().

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◆ enqueue()

void nav2_costmap_2d::LegacyInflationLayer::enqueue	(	unsigned int	index,
		unsigned int	mx,
		unsigned int	my,
		unsigned int	src_x,
		unsigned int	src_y
	)

inlineprotected

Enqueue new cells in cache distance update search.

Given an index of a cell in the costmap, place it into a list pending for obstacle inflation.

Parameters

grid	The costmap
index	The index of the cell
mx	The x coordinate of the cell (can be computed from the index, but saves time to store it)
my	The y coordinate of the cell (can be computed from the index, but saves time to store it)
src_x	The x index of the obstacle point inflation started at
src_y	The y index of the obstacle point inflation started at

Definition at line 329 of file legacy_inflation_layer.cpp.

References distanceLookup().

Referenced by updateCosts().

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◆ getCostScalingFactor()

double nav2_costmap_2d::LegacyInflationLayer::getCostScalingFactor ( )

inlineoverridevirtual

Get the cost scaling factor.

Returns: The cost scaling factor

Implements nav2_costmap_2d::InflationLayerInterface.

Definition at line 173 of file legacy_inflation_layer.hpp.

Referenced by dynamicParametersCallback().

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◆ getInflationRadius()

double nav2_costmap_2d::LegacyInflationLayer::getInflationRadius ( )

inlineoverridevirtual

Get the inflation radius.

Returns: The inflation radius in meters

Implements nav2_costmap_2d::InflationLayerInterface.

Definition at line 178 of file legacy_inflation_layer.hpp.

◆ updateBounds()

void nav2_costmap_2d::LegacyInflationLayer::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 132 of file legacy_inflation_layer.cpp.

References getMutex().

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◆ updateCosts()

void nav2_costmap_2d::LegacyInflationLayer::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