Extension of Costmap Queue where distances are limited to a given distance from source cells. More...

Inheritance diagram for costmap_queue::LimitedCostmapQueue:

Collaboration diagram for costmap_queue::LimitedCostmapQueue:

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Public Member Functions
	LimitedCostmapQueue (nav2_costmap_2d::Costmap2D &costmap, const int cell_distance_limit)
	Constructor with limit as an integer number of cells.

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

Public Member Functions inherited from costmap_queue::CostmapQueue
	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...

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.

Additional Inherited Members
Public Types inherited from costmap_queue::CostmapQueue
typedef std::shared_ptr< CostmapQueue >	Ptr
	convenience typedef for a pointer

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

using	ItemMapIterator = typename ItemMap::iterator

Protected Member Functions inherited from costmap_queue::CostmapQueue
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 inherited from costmap_queue::CostmapQueue
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_

Detailed Description

Extension of Costmap Queue where distances are limited to a given distance from source cells.

Definition at line 47 of file limited_costmap_queue.hpp.

Member Function Documentation

bool costmap_queue::LimitedCostmapQueue::validCellToQueue ( const CellData & )

overridevirtual

Check to see if we should add this cell to the queue. Always true unless overridden.

Parameters

cell	The cell to check

Definition at line 49 of file limited_costmap_queue.cpp.

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

nav2_dwb_controller/costmap_queue/include/costmap_queue/limited_costmap_queue.hpp
nav2_dwb_controller/costmap_queue/src/limited_costmap_queue.cpp