A costmap layer base class for costmap plugin layers. Rather than just a layer, this object also contains an internal costmap object to populate and maintain state. More...
#include <nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.hpp>
Inheritance diagram for nav2_costmap_2d::CostmapLayer:
Collaboration diagram for nav2_costmap_2d::CostmapLayer:
Public Member Functions | |
| CostmapLayer () | |
| CostmapLayer constructor. | |
| bool | isDiscretized () |
| If layer is discrete. | |
| virtual void | matchSize () |
| Match the size of the master costmap. | |
| virtual void | clearArea (int start_x, int start_y, int end_x, int end_y, bool invert) |
| Clear an are in the costmap with the given dimension if invert, then clear everything except these dimensions. | |
| void | addExtraBounds (double mx0, double my0, double mx1, double my1) |
 Public Member Functions inherited from nav2_costmap_2d::Layer | |
| Layer () | |
| A constructor. | |
| virtual | ~Layer () |
| A destructor. | |
| void | initialize (LayeredCostmap *parent, std::string name, tf2_ros::Buffer *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. | |
| virtual void | reset ()=0 |
| Reset this costmap. | |
| virtual bool | isClearable ()=0 |
| If clearing operations should be processed on this layer or not. | |
| virtual void | updateBounds (double robot_x, double robot_y, double robot_yaw, double *min_x, double *min_y, double *max_x, double *max_y)=0 |
| This is called by the LayeredCostmap to poll this plugin as to how much of the costmap it needs to update. Each layer can increase the size of this bounds. More... | |
| virtual void | updateCosts (Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)=0 |
| Actually update the underlying costmap, only within the bounds calculated during UpdateBounds(). | |
| virtual void | onFootprintChanged () |
| LayeredCostmap calls this whenever the footprint there changes (via LayeredCostmap::setFootprint()). Override to be notified of changes to the robot's footprint. | |
| 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... | |
| bool | isEnabled () const |
| Gets whether the layer is enabled. | |
| const std::vector< geometry_msgs::msg::Point > & | getFootprint () const |
| Convenience function for layered_costmap_->getFootprint(). | |
| void | declareParameter (const std::string ¶m_name, const rclcpp::ParameterValue &value) |
| Convenience functions for declaring ROS parameters. | |
| void | declareParameter (const std::string ¶m_name, const rclcpp::ParameterType ¶m_type) |
| Convenience functions for declaring ROS parameters. | |
| bool | hasParameter (const std::string ¶m_name) |
| Convenience functions for declaring ROS parameters. | |
| std::string | getFullName (const std::string ¶m_name) |
| Convenience functions for declaring ROS parameters. | |
| std::string | joinWithParentNamespace (const std::string &topic) |
| Public Member Functions inherited from nav2_costmap_2d::Costmap2D | |
| Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value=0) | |
| Constructor for a costmap. More... | |
| Costmap2D (const Costmap2D &map) | |
| Copy constructor for a costmap, creates a copy efficiently. More... | |
| Costmap2D (const nav_msgs::msg::OccupancyGrid &map) | |
| Constructor for a costmap from an OccupancyGrid map. More... | |
| Costmap2D & | operator= (const Costmap2D &map) |
| Overloaded assignment operator. More... | |
| bool | copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y) |
| Turn this costmap into a copy of a window of a costmap passed in. More... | |
| bool | copyWindow (const Costmap2D &source, unsigned int sx0, unsigned int sy0, unsigned int sxn, unsigned int syn, unsigned int dx0, unsigned int dy0) |
| Copies the (x0,y0)..(xn,yn) window from source costmap into a current costmap. More... | |
| Costmap2D () | |
| Default constructor. | |
| virtual | ~Costmap2D () |
| Destructor. | |
| unsigned char | getCost (unsigned int mx, unsigned int my) const |
| Get the cost of a cell in the costmap. More... | |
| unsigned char | getCost (unsigned int index) const |
| Get the cost of a cell in the costmap. More... | |
| void | setCost (unsigned int mx, unsigned int my, unsigned char cost) |
| Set the cost of a cell in the costmap. More... | |
| void | mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const |
| Convert from map coordinates to world coordinates. More... | |
| void | mapToWorldNoBounds (int mx, int my, double &wx, double &wy) const |
| Convert from map coordinates to world coordinates with no bounds checking. More... | |
| bool | worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const |
| Convert from world coordinates to map coordinates. More... | |
| bool | worldToMapContinuous (double wx, double wy, float &mx, float &my) const |
| Convert from world coordinates to map coordinates. More... | |
| void | worldToMapNoBounds (double wx, double wy, int &mx, int &my) const |
| Convert from world coordinates to map coordinates without checking for legal bounds. More... | |
| void | worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const |
| Convert from world coordinates to map coordinates, constraining results to legal bounds. More... | |
| unsigned int | getIndex (unsigned int mx, unsigned int my) const |
| Given two map coordinates... compute the associated index. More... | |
| void | indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const |
| Given an index... compute the associated map coordinates. More... | |
| unsigned char * | getCharMap () const |
| Will return a pointer to the underlying unsigned char array used as the costmap. More... | |
| unsigned int | getSizeInCellsX () const |
| Accessor for the x size of the costmap in cells. More... | |
| unsigned int | getSizeInCellsY () const |
| Accessor for the y size of the costmap in cells. More... | |
| double | getSizeInMetersX () const |
| Accessor for the x size of the costmap in meters. More... | |
| double | getSizeInMetersY () const |
| Accessor for the y size of the costmap in meters. More... | |
| double | getOriginX () const |
| Accessor for the x origin of the costmap. More... | |
| double | getOriginY () const |
| Accessor for the y origin of the costmap. More... | |
| double | getResolution () const |
| Accessor for the resolution of the costmap. More... | |
| void | setDefaultValue (unsigned char c) |
| Set the default background value of the costmap. More... | |
| unsigned char | getDefaultValue () |
| Get the default background value of the costmap. More... | |
| bool | setConvexPolygonCost (const std::vector< geometry_msgs::msg::Point > &polygon, unsigned char cost_value) |
| Sets the cost of a convex polygon to a desired value. More... | |
| bool | getMapRegionOccupiedByPolygon (const std::vector< geometry_msgs::msg::Point > &polygon, std::vector< MapLocation > &polygon_map_region) |
| Gets the map region occupied by polygon. More... | |
| void | setMapRegionOccupiedByPolygon (const std::vector< MapLocation > &polygon_map_region, unsigned char new_cost_value) |
| Sets the given map region to desired value. More... | |
| void | restoreMapRegionOccupiedByPolygon (const std::vector< MapLocation > &polygon_map_region) |
| Restores the corresponding map region using given map region. More... | |
| void | polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells) |
| Get the map cells that make up the outline of a polygon. More... | |
| void | convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells) |
| Get the map cells that fill a convex polygon. More... | |
| virtual void | updateOrigin (double new_origin_x, double new_origin_y) |
| Move the origin of the costmap to a new location.... keeping data when it can. More... | |
| bool | saveMap (std::string file_name) |
| Save the costmap out to a pgm file. More... | |
| void | resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y) |
| Resize the costmap. | |
| void | resetMap (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn) |
| Reset the costmap in bounds. | |
| void | resetMapToValue (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn, unsigned char value) |
| Reset the costmap in bounds to a value. | |
| unsigned int | cellDistance (double world_dist) |
| Given distance in the world... convert it to cells. More... | |
| mutex_t * | getMutex () |
Protected Member Functions | |
| void | updateWithTrueOverwrite (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j) |
| void | updateWithOverwrite (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j) |
| void | updateWithMax (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j) |
| void | updateWithMaxWithoutUnknownOverwrite (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j) |
| void | updateWithAddition (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j) |
| void | touch (double x, double y, double *min_x, double *min_y, double *max_x, double *max_y) |
| void | useExtraBounds (double *min_x, double *min_y, double *max_x, double *max_y) |
| CombinationMethod | combination_method_from_int (const int value) |
| Converts an integer to a CombinationMethod enum and logs on failure. More... | |
| Protected Member Functions inherited from nav2_costmap_2d::Layer | |
| virtual void | onInitialize () |
| This is called at the end of initialize(). Override to implement subclass-specific initialization. More... | |
| Protected Member Functions inherited from nav2_costmap_2d::Costmap2D | |
| template<typename data_type > | |
| void | copyMapRegion (data_type *source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, unsigned int sm_size_x, data_type *dest_map, unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int region_size_y) |
| Copy a region of a source map into a destination map. More... | |
| virtual void | deleteMaps () |
| Deletes the costmap, static_map, and markers data structures. | |
| virtual void | resetMaps () |
| Resets the costmap and static_map to be unknown space. | |
| virtual void | initMaps (unsigned int size_x, unsigned int size_y) |
| Initializes the costmap, static_map, and markers data structures. More... | |
| template<class ActionType > | |
| void | raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX, unsigned int min_length=0) |
| Raytrace a line and apply some action at each step. More... | |
Protected Attributes | |
| bool | has_extra_bounds_ |
| Protected Attributes inherited from nav2_costmap_2d::Layer | |
| LayeredCostmap * | layered_costmap_ |
| std::string | name_ |
| tf2_ros::Buffer * | tf_ |
| rclcpp::CallbackGroup::SharedPtr | callback_group_ |
| nav2::LifecycleNode::WeakPtr | node_ |
| rclcpp::Clock::SharedPtr | clock_ |
| rclcpp::Logger | logger_ {rclcpp::get_logger("nav2_costmap_2d")} |
| bool | current_ |
| bool | enabled_ |
| std::unordered_set< std::string > | local_params_ |
| Protected Attributes inherited from nav2_costmap_2d::Costmap2D | |
| unsigned int | size_x_ |
| unsigned int | size_y_ |
| double | resolution_ |
| double | origin_x_ |
| double | origin_y_ |
| unsigned char * | costmap_ |
| unsigned char | default_value_ |
Additional Inherited Members | |
| Public Types inherited from nav2_costmap_2d::Costmap2D | |
| typedef std::recursive_mutex | mutex_t |
Detailed Description
A costmap layer base class for costmap plugin layers. Rather than just a layer, this object also contains an internal costmap object to populate and maintain state.
Definition at line 56 of file costmap_layer.hpp.
Member Function Documentation
◆ addExtraBounds()
| void nav2_costmap_2d::CostmapLayer::addExtraBounds | ( | double | mx0, |
| double | my0, | ||
| double | mx1, | ||
| double | my1 | ||
| ) |
If an external source changes values in the costmap, it should call this method with the area that it changed to ensure that the costmap includes this region as well.
- Parameters
-
mx0 Minimum x value of the bounding box my0 Minimum y value of the bounding box mx1 Maximum x value of the bounding box my1 Maximum y value of the bounding box
Definition at line 93 of file costmap_layer.cpp.
◆ combination_method_from_int()
|
protected |
Converts an integer to a CombinationMethod enum and logs on failure.
- Parameters
-
value The integer to convert function_name The name of the function calling this conversion (for logging)
Definition at line 258 of file costmap_layer.cpp.
References nav2_costmap_2d::Max, nav2_costmap_2d::MaxWithoutUnknownOverwrite, and nav2_costmap_2d::Overwrite.
Referenced by nav2_costmap_2d::ObstacleLayer::dynamicParametersCallback(), nav2_costmap_2d::PluginContainerLayer::dynamicParametersCallback(), nav2_costmap_2d::VoxelLayer::dynamicParametersCallback(), nav2_costmap_2d::ObstacleLayer::onInitialize(), nav2_costmap_2d::PluginContainerLayer::onInitialize(), and nav2_costmap_2d::VoxelLayer::onInitialize().
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◆ touch()
|
protected |
Updates the bounding box specified in the parameters to include the location (x,y)
- Parameters
-
x x-coordinate to include y y-coordinate to include min_x bounding box min_y bounding box max_x bounding box max_y bounding box
Definition at line 46 of file costmap_layer.cpp.
Referenced by nav2_costmap_2d::ObstacleLayer::raytraceFreespace(), nav2_costmap_2d::ObstacleLayer::updateBounds(), nav2_costmap_2d::VoxelLayer::updateBounds(), nav2_costmap_2d::ObstacleLayer::updateFootprint(), nav2_costmap_2d::StaticLayer::updateFootprint(), and nav2_costmap_2d::ObstacleLayer::updateRaytraceBounds().
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The documentation for this class was generated from the following files:
- nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.hpp
- nav2_costmap_2d/src/costmap_layer.cpp
