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nav2_simple_commander.costmap_2d.PyCostmap2D Class Reference

Public Member Functions

def __init__ (self, Costmap occupancy_map)
 
def getSizeInCellsX (self)
 
def getSizeInCellsY (self)
 
def getSizeInMetersX (self)
 
def getSizeInMetersY (self)
 
def getOriginX (self)
 
def getOriginY (self)
 
def getResolution (self)
 
def getGlobalFrameID (self)
 
def getCostmapTimestamp (self)
 
def getCostXY (self, int mx, int my)
 
def getCostIdx (self, int index)
 
def setCost (self, int mx, int my, np.uint8 cost)
 
def mapToWorld (self, int mx, int my)
 
def worldToMapValidated (self, float wx, float wy)
 
def getIndex (self, int mx, int my)
 

Public Attributes

 size_x
 
 size_y
 
 resolution
 
 origin_x
 
 origin_y
 
 global_frame_id
 
 costmap_timestamp
 
 costmap
 

Detailed Description

PyCostmap2D.

Costmap Python3 API for Costmaps to populate from published messages

Definition at line 31 of file costmap_2d.py.

Constructor & Destructor Documentation

◆ __init__()

def nav2_simple_commander.costmap_2d.PyCostmap2D.__init__ (   self,
Costmap  occupancy_map 
) 
Initialize costmap2D.

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

Returns
-------
    None

Definition at line 38 of file costmap_2d.py.

References nav2_simple_commander.costmap_2d.PyCostmap2D.costmap, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.costmap, nav2_voxel_grid::VoxelGrid.costmap, nav2_simple_commander.costmap_2d.PyCostmap2D.costmap_timestamp, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.costmap_timestamp, nav2_simple_commander.costmap_2d.PyCostmap2D.global_frame_id, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.global_frame_id, nav2_waypoint_follower::Parameters.global_frame_id, map_t.origin_x, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_x, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.origin_x, map_t.origin_y, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_y, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.origin_y, nav2_map_server::LoadParameters.resolution, nav2_simple_commander.costmap_2d.PyCostmap2D.resolution, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.resolution, map_t.size_x, nav2_simple_commander.costmap_2d.PyCostmap2D.size_x, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.size_x, nav2_smac_planner::HybridMotionTable.size_x, nav2_smac_planner::LatticeMotionTable.size_x, map_t.size_y, nav2_simple_commander.costmap_2d.PyCostmap2D.size_y, and nav2_simple_commander.occupancy_grid.PyOccupancyGrid.size_y.

Member Function Documentation

◆ getCostIdx()

def 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 112 of file costmap_2d.py.

References nav2_simple_commander.costmap_2d.PyCostmap2D.costmap, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.costmap, and nav2_voxel_grid::VoxelGrid.costmap.

◆ getCostmapTimestamp()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getCostmapTimestamp (   self) 
Get costmap timestamp.

Definition at line 92 of file costmap_2d.py.

References nav2_simple_commander.costmap_2d.PyCostmap2D.costmap_timestamp, and nav2_simple_commander.occupancy_grid.PyOccupancyGrid.costmap_timestamp.

◆ getCostXY()

def 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 96 of file costmap_2d.py.

References nav2_simple_commander.costmap_2d.PyCostmap2D.costmap, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.costmap, nav2_voxel_grid::VoxelGrid.costmap, nav2_smac_planner::Node2D.getIndex(), nav2_smac_planner::NodeHybrid.getIndex(), nav2_smac_planner::NodeLattice.getIndex(), nav2_theta_star_planner::ThetaStar.getIndex(), nav2_smac_planner::AStarAlgorithm< NodeT >.getIndex(), nav2_simple_commander.costmap_2d.PyCostmap2D.getIndex(), nav2_simple_commander.occupancy_grid.PyOccupancyGrid.getIndex(), nav2_costmap_2d::Costmap2D.getIndex(), and mppi::critics::CostCritic.getIndex().

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◆ getGlobalFrameID()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getGlobalFrameID (   self) 
Get global frame_id.

Definition at line 88 of file costmap_2d.py.

References nav2_simple_commander.costmap_2d.PyCostmap2D.global_frame_id, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.global_frame_id, and nav2_waypoint_follower::Parameters.global_frame_id.

◆ getIndex()

def 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 189 of file costmap_2d.py.

References map_t.size_x, nav2_simple_commander.costmap_2d.PyCostmap2D.size_x, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.size_x, nav2_smac_planner::HybridMotionTable.size_x, and nav2_smac_planner::LatticeMotionTable.size_x.

Referenced by nav2_simple_commander.costmap_2d.PyCostmap2D.getCostXY(), nav2_simple_commander.occupancy_grid.PyOccupancyGrid.getCostXY(), nav2_simple_commander.occupancy_grid.PyOccupancyGrid.setCost(), and nav2_simple_commander.costmap_2d.PyCostmap2D.setCost().

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◆ getOriginX()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getOriginX (   self) 
Get the origin x axis of the map [m].

Definition at line 76 of file costmap_2d.py.

References map_t.origin_x, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_x, and nav2_simple_commander.occupancy_grid.PyOccupancyGrid.origin_x.

◆ getOriginY()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getOriginY (   self) 
Get the origin y axis of the map [m].

Definition at line 80 of file costmap_2d.py.

References map_t.origin_y, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_y, and nav2_simple_commander.occupancy_grid.PyOccupancyGrid.origin_y.

◆ getResolution()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getResolution (   self) 
Get map resolution [m/cell].

Definition at line 84 of file costmap_2d.py.

References nav2_map_server::LoadParameters.resolution, nav2_simple_commander.costmap_2d.PyCostmap2D.resolution, and nav2_simple_commander.occupancy_grid.PyOccupancyGrid.resolution.

◆ getSizeInCellsX()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getSizeInCellsX (   self) 
Get map width in cells.

Definition at line 60 of file costmap_2d.py.

References map_t.size_x, nav2_simple_commander.costmap_2d.PyCostmap2D.size_x, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.size_x, nav2_smac_planner::HybridMotionTable.size_x, and nav2_smac_planner::LatticeMotionTable.size_x.

◆ getSizeInCellsY()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getSizeInCellsY (   self) 
Get map height in cells.

Definition at line 64 of file costmap_2d.py.

References map_t.size_y, nav2_simple_commander.costmap_2d.PyCostmap2D.size_y, and nav2_simple_commander.occupancy_grid.PyOccupancyGrid.size_y.

◆ getSizeInMetersX()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getSizeInMetersX (   self) 
Get x axis map size in meters.

Definition at line 68 of file costmap_2d.py.

References nav2_map_server::LoadParameters.resolution, nav2_simple_commander.costmap_2d.PyCostmap2D.resolution, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.resolution, map_t.size_x, nav2_simple_commander.costmap_2d.PyCostmap2D.size_x, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.size_x, nav2_smac_planner::HybridMotionTable.size_x, and nav2_smac_planner::LatticeMotionTable.size_x.

◆ getSizeInMetersY()

def nav2_simple_commander.costmap_2d.PyCostmap2D.getSizeInMetersY (   self) 
Get y axis map size in meters.

Definition at line 72 of file costmap_2d.py.

References nav2_map_server::LoadParameters.resolution, nav2_simple_commander.costmap_2d.PyCostmap2D.resolution, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.resolution, map_t.size_y, nav2_simple_commander.costmap_2d.PyCostmap2D.size_y, and nav2_simple_commander.occupancy_grid.PyOccupancyGrid.size_y.

◆ mapToWorld()

def 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 144 of file costmap_2d.py.

References map_t.origin_x, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_x, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.origin_x, map_t.origin_y, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_y, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.origin_y, nav2_map_server::LoadParameters.resolution, nav2_simple_commander.costmap_2d.PyCostmap2D.resolution, and nav2_simple_commander.occupancy_grid.PyOccupancyGrid.resolution.

◆ setCost()

def 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 127 of file costmap_2d.py.

References nav2_simple_commander.costmap_2d.PyCostmap2D.costmap, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.costmap, nav2_voxel_grid::VoxelGrid.costmap, nav2_smac_planner::Node2D.getIndex(), nav2_smac_planner::NodeHybrid.getIndex(), nav2_smac_planner::NodeLattice.getIndex(), nav2_theta_star_planner::ThetaStar.getIndex(), nav2_smac_planner::AStarAlgorithm< NodeT >.getIndex(), nav2_simple_commander.costmap_2d.PyCostmap2D.getIndex(), nav2_simple_commander.occupancy_grid.PyOccupancyGrid.getIndex(), nav2_costmap_2d::Costmap2D.getIndex(), and mppi::critics::CostCritic.getIndex().

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◆ worldToMapValidated()

def nav2_simple_commander.costmap_2d.PyCostmap2D.worldToMapValidated (   self,
float  wx,
float  wy 
) 
Get the map coordinate XY using world coordinate XY.

Args
----
    wx (float) [m]: world coordinate X to get map coordinate
    wy (float) [m]: world coordinate Y to get map coordinate

Returns
-------
    (None, None): if coordinates are invalid
    tuple of int: mx, my (if coordinates are valid)
    mx (int): map coordinate X
    my (int): map coordinate Y

Definition at line 164 of file costmap_2d.py.

References map_t.origin_x, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_x, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.origin_x, map_t.origin_y, nav2_simple_commander.costmap_2d.PyCostmap2D.origin_y, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.origin_y, nav2_map_server::LoadParameters.resolution, nav2_simple_commander.costmap_2d.PyCostmap2D.resolution, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.resolution, map_t.size_x, nav2_simple_commander.costmap_2d.PyCostmap2D.size_x, nav2_simple_commander.occupancy_grid.PyOccupancyGrid.size_x, nav2_smac_planner::HybridMotionTable.size_x, nav2_smac_planner::LatticeMotionTable.size_x, map_t.size_y, nav2_simple_commander.costmap_2d.PyCostmap2D.size_y, and nav2_simple_commander.occupancy_grid.PyOccupancyGrid.size_y.

Referenced by nav2_simple_commander.footprint_collision_checker.FootprintCollisionChecker.footprintCost().

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