Inheritance diagram for costmap_queue::CostmapQueue:

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Collaboration diagram for costmap_queue::CostmapQueue:

Public Types
typedef std::shared_ptr< CostmapQueue >	Ptr
	convenience typedef for a pointer

Public Member Functions
	CostmapQueue (nav2_costmap_2d::Costmap2D &costmap, bool manhattan=false)
	constructor More...

void	reset () override
	Clear the queue.

void	enqueueCell (unsigned int x, unsigned int y)
	Add a cell the queue. More...

CellData	getNextCell ()
	Get the next cell to examine, and enqueue its neighbors as needed. More...

virtual bool	validCellToQueue (const CellData &)
	Check to see if we should add this cell to the queue. Always true unless overridden. More...

Public Member Functions inherited from costmap_queue::MapBasedQueue< CellData >
	MapBasedQueue (bool reset_bins=true)
	Default Constructor.

virtual	~MapBasedQueue ()=default
	Default virtual Destructor.

void	enqueue (const double priority, CellData item)
	Add a new item to the queue with a set priority. More...

bool	isEmpty ()
	Check to see if there is anything in the queue. More...

CellData &	front ()
	Return the item at the front of the queue. More...

void	pop ()
	Remove (and destroy) the item at the front of the queue.

Protected Member Functions
void	enqueueCell (unsigned int index, unsigned int cur_x, unsigned int cur_y, unsigned int src_x, unsigned int src_y)
	Enqueue a cell with the given coordinates and the given source cell.

void	computeCache ()
	Compute the cached distances.

double	distanceLookup (const unsigned int cur_x, const unsigned int cur_y, const unsigned int src_x, const unsigned int src_y)
	Lookup pre-computed distances. More...

Protected Attributes
nav2_costmap_2d::Costmap2D &	costmap_

std::vector< bool >	seen_

int	max_distance_

bool	manhattan_

std::vector< std::vector< double > >	cached_distances_

int	cached_max_distance_

Protected Attributes inherited from costmap_queue::MapBasedQueue< CellData >
bool	reset_bins_

ItemMap	item_bins_

unsigned int	item_count_

ItemMapIterator	iter_

ItemMapIterator	last_insert_iter_

Additional Inherited Members
Protected Types inherited from costmap_queue::MapBasedQueue< CellData >
using	ItemMap = std::map< double, std::vector< CellData > >

using	ItemMapIterator = typename ItemMap::iterator

Detailed Description

Definition at line 108 of file costmap_queue.hpp.

Constructor & Destructor Documentation

costmap_queue::CostmapQueue::CostmapQueue	(	nav2_costmap_2d::Costmap2D &	costmap,
		bool	manhattan = `false`
	)

explicit

constructor

Parameters

costmap	Costmap which defines the size/number of cells
manhattan	If true, sort cells by Manhattan distance, otherwise use Euclidean distance

Definition at line 44 of file costmap_queue.cpp.

References reset().

Here is the call graph for this function:

double costmap_queue::CostmapQueue::distanceLookup	(	const unsigned int	cur_x,
		const unsigned int	cur_y,
		const unsigned int	src_x,
		const unsigned int	src_y
	)

inlineprotected

Lookup pre-computed distances.

Parameters

cur_x	The x coordinate of the current cell
cur_y	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