Takes in IR/Sonar/similar point measurement sensors and populates in costmap. More...
#include <nav2_costmap_2d/include/nav2_costmap_2d/range_sensor_layer.hpp>
Inheritance diagram for nav2_costmap_2d::RangeSensorLayer:
Collaboration diagram for nav2_costmap_2d::RangeSensorLayer:
Public Types | |
| enum class | InputSensorType { VARIABLE , FIXED , ALL } |
 Public Types inherited from nav2_costmap_2d::Costmap2D | |
| typedef std::recursive_mutex | mutex_t |
Public Member Functions | |
| RangeSensorLayer () | |
| A constructor. | |
| virtual void | onInitialize () |
| Initialization process of layer on startup. | |
| virtual void | updateBounds (double robot_x, double robot_y, double robot_yaw, double *min_x, double *min_y, double *max_x, double *max_y) |
| Update the bounds of the master costmap by this layer's update dimensions. More... | |
| virtual void | updateCosts (nav2_costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j) |
| Update the costs in the master costmap in the window. More... | |
| virtual void | reset () |
| Reset this costmap. | |
| virtual void | deactivate () |
| Deactivate the layer. | |
| virtual void | activate () |
| Activate the layer. | |
| virtual bool | isClearable () |
| If clearing operations should be processed on this layer or not. | |
| void | bufferIncomingRangeMsg (const sensor_msgs::msg::Range::SharedPtr range_message) |
| Handle an incoming Range message to populate into costmap. | |
| Public Member Functions inherited from nav2_costmap_2d::CostmapLayer | |
| 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 | 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 | updateCostmap () |
| Processes all sensors into the costmap buffered from callbacks. | |
| void | updateCostmap (sensor_msgs::msg::Range &range_message, bool clear_sensor_cone) |
| Update the actual costmap with the values processed. | |
| void | processRangeMsg (sensor_msgs::msg::Range &range_message) |
| Process general incoming range sensor data. If min=max ranges, fixed processor callback is used, else uses variable callback. | |
| void | processFixedRangeMsg (sensor_msgs::msg::Range &range_message) |
| Process fixed range incoming range sensor data. | |
| void | processVariableRangeMsg (sensor_msgs::msg::Range &range_message) |
| Process variable range incoming range sensor data. | |
| void | resetRange () |
| Reset the angle min/max x, and min/max y values. | |
| double | gamma (double theta) |
| Get the gamma value for an angle, theta. | |
| double | delta (double phi) |
| Get the delta value for an angle, phi. | |
| double | sensor_model (double r, double phi, double theta) |
| Apply the sensor model of the layer for range sensors. | |
| void | get_deltas (double angle, double *dx, double *dy) |
| Get angles. | |
| void | update_cell (double ox, double oy, double ot, double r, double nx, double ny, bool clear) |
| Update the cost in a cell with information. | |
| double | to_prob (unsigned char c) |
| Find probability value of a cost. | |
| unsigned char | to_cost (double p) |
| Find cost value of a probability. | |
| float | area (int x1, int y1, int x2, int y2, int x3, int y3) |
| Find the area of 3 points of a triangle. | |
| int | orient2d (int Ax, int Ay, int Bx, int By, int Cx, int Cy) |
| Find the cross product of 3 vectors, A,B,C. | |
| Protected Member Functions inherited from nav2_costmap_2d::CostmapLayer | |
| 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::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 | |
| std::function< void(sensor_msgs::msg::Range &range_message)> | processRangeMessageFunc_ |
| std::mutex | range_message_mutex_ |
| std::list< sensor_msgs::msg::Range > | range_msgs_buffer_ |
| double | max_angle_ |
| double | phi_v_ |
| double | inflate_cone_ |
| std::string | global_frame_ |
| double | clear_threshold_ |
| double | mark_threshold_ |
| bool | clear_on_max_reading_ |
| bool | was_reset_ |
| tf2::Duration | transform_tolerance_ |
| double | no_readings_timeout_ |
| rclcpp::Time | last_reading_time_ |
| unsigned int | buffered_readings_ |
| std::vector< nav2::Subscription< sensor_msgs::msg::Range >::SharedPtr > | range_subs_ |
| double | min_x_ |
| double | min_y_ |
| double | max_x_ |
| double | max_y_ |
| Protected Attributes inherited from nav2_costmap_2d::CostmapLayer | |
| 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_ |
Detailed Description
Takes in IR/Sonar/similar point measurement sensors and populates in costmap.
Definition at line 59 of file range_sensor_layer.hpp.
Member Function Documentation
◆ updateBounds()
|
virtual |
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 440 of file range_sensor_layer.cpp.
◆ updateCosts()
|
virtual |
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
Implements nav2_costmap_2d::Layer.
Definition at line 479 of file range_sensor_layer.cpp.
References nav2_costmap_2d::Costmap2D::getCharMap(), and nav2_costmap_2d::Costmap2D::getSizeInCellsX().
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The documentation for this class was generated from the following files:
- nav2_costmap_2d/include/nav2_costmap_2d/range_sensor_layer.hpp
- nav2_costmap_2d/plugins/range_sensor_layer.cpp
