#include <nav2_map_server/include/nav2_map_server/vector_object_shapes.hpp>

Inheritance diagram for nav2_map_server::Circle:

Collaboration diagram for nav2_map_server::Circle:

Public Member Functions
	Circle (const nav2::LifecycleNode::WeakPtr &node)

int8_t	getValue () const
	Gets the value of the shape. More...

std::string	getFrameID () const
	Gets frame ID of the shape. More...

std::string	getUUID () const
	Gets UUID of the shape. More...

bool	isUUID (const unsigned char *uuid) const
	Checks whether the shape is equal to a given UUID. More...

bool	isFill () const
	Whether the shape to be filled or only its borders to be put on map. More...

bool	obtainParams (const std::string &shape_name)
	Supporting routine obtaining ROS-parameters for the given vector object. More...

nav2_msgs::msg::CircleObject::SharedPtr	getParams () const
	Gets Circle parameters. More...

bool	setParams (const nav2_msgs::msg::CircleObject::SharedPtr params)
	Tries to update Circle parameters. More...

bool	toFrame (const std::string &to_frame, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, const double transform_tolerance)
	Transforms shape coordinates to a new frame. More...

void	getBoundaries (double &min_x, double &min_y, double &max_x, double &max_y)
	Gets shape box-boundaries. More...

bool	isPointInside (const double px, const double py) const
	Is the point inside the shape. More...

void	putBorders (nav_msgs::msg::OccupancyGrid::SharedPtr map, const OverlayType overlay_type)
	Puts shape borders on map. More...

Public Member Functions inherited from nav2_map_server::Shape
	Shape (const nav2::LifecycleNode::WeakPtr &node)
	Shape basic class constructor. More...

virtual	~Shape ()
	Shape destructor.

ShapeType	getType ()
	Returns type of the shape. More...

bool	obtainShapeUUID (const std::string &shape_name, unsigned char *out_uuid)
	Supporting routine obtaining shape UUID from ROS-parameters for the given shape object. More...

Protected Member Functions
bool	checkConsistency ()
	Checks that shape is consistent for further operation. More...

bool	centerToMap (nav_msgs::msg::OccupancyGrid::ConstSharedPtr map, unsigned int &mcx, unsigned int &mcy)
	Converts circle center to map coordinates considering FP-accuracy losing on small values when using conventional nav2_util::worldToMap() approach. More...

void	putPoint (unsigned int mx, unsigned int my, nav_msgs::msg::OccupancyGrid::SharedPtr map, const OverlayType overlay_type)
	Put Circle's point on map. More...

Protected Attributes
nav2_msgs::msg::CircleObject::SharedPtr	params_
	Input circle parameters (could be in any frame)

geometry_msgs::msg::Point32::SharedPtr	center_
	Circle center in the map's frame.

Protected Attributes inherited from nav2_map_server::Shape
ShapeType	type_
	Type of shape.

nav2::LifecycleNode::WeakPtr	node_
	VectorObjectServer node.

Detailed Description

Circle shape class.

Definition at line 277 of file vector_object_shapes.hpp.

Member Function Documentation

◆ centerToMap()

bool nav2_map_server::Circle::centerToMap	(	nav_msgs::msg::OccupancyGrid::ConstSharedPtr	map,
		unsigned int &	mcx,
		unsigned int &	mcy
	)

protected

Converts circle center to map coordinates considering FP-accuracy losing on small values when using conventional nav2_util::worldToMap() approach.

Parameters

map	Map pointer
mcx	Output X-coordinate of associated circle center on map
mcy	Output Y-coordinate of associated circle center on map

Returns: True if the conversion was successful

Definition at line 516 of file vector_object_shapes.cpp.

References center_, getUUID(), and nav2_map_server::Shape::node_.

Referenced by putBorders().

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◆ checkConsistency()

bool nav2_map_server::Circle::checkConsistency ( )

protected

Checks that shape is consistent for further operation.

Returns: False in case of inconsistent shape

Definition at line 499 of file vector_object_shapes.cpp.

References getUUID(), nav2_map_server::Shape::node_, and params_.

Referenced by setParams().

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◆ getBoundaries()

void nav2_map_server::Circle::getBoundaries	(	double &	min_x,
		double &	min_y,
		double &	max_x,
		double &	max_y
	)

virtual

Gets shape box-boundaries.

Parameters

min_x	output min X-boundary of shape
min_y	output min Y-boundary of shape
max_x	output max X-boundary of shape
max_y	output max Y-boundary of shape

Implements nav2_map_server::Shape.

Definition at line 436 of file vector_object_shapes.cpp.

References center_, and params_.

◆ getFrameID()

std::string nav2_map_server::Circle::getFrameID ( ) const

virtual

Gets frame ID of the shape.

Returns: Frame ID where the shape is

Implements nav2_map_server::Shape.

Definition at line 310 of file vector_object_shapes.cpp.

References params_.

◆ getParams()

nav2_msgs::msg::CircleObject::SharedPtr nav2_map_server::Circle::getParams ( ) const

Gets Circle parameters.

Returns: Circle parameters

Definition at line 390 of file vector_object_shapes.cpp.

References params_.

◆ getUUID()

std::string nav2_map_server::Circle::getUUID ( ) const

virtual

Gets UUID of the shape.

Returns: Shape UUID string

Implements nav2_map_server::Shape.

Definition at line 315 of file vector_object_shapes.cpp.

References params_.

Referenced by centerToMap(), and checkConsistency().

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◆ getValue()

int8_t nav2_map_server::Circle::getValue ( ) const

virtual

Gets the value of the shape.

Returns: OccupancyGrid value of the shape

Implements nav2_map_server::Shape.

Definition at line 305 of file vector_object_shapes.cpp.

References params_.

◆ isFill()

bool nav2_map_server::Circle::isFill ( ) const

virtual

Whether the shape to be filled or only its borders to be put on map.

Returns: True if shape to be filled

Implements nav2_map_server::Shape.

Definition at line 325 of file vector_object_shapes.cpp.

References params_.

◆ isPointInside()

bool nav2_map_server::Circle::isPointInside	(	const double	px,
		const double	py
	)		const

virtual

Is the point inside the shape.

Parameters

px	X-coordinate of the given point to check
py	Y-coordinate of the given point to check

Returns: True if given point inside the shape

Implements nav2_map_server::Shape.

Definition at line 444 of file vector_object_shapes.cpp.

References center_, and params_.

◆ isUUID()

bool nav2_map_server::Circle::isUUID ( const unsigned char * uuid ) const

virtual

Checks whether the shape is equal to a given UUID.

Parameters

uuid	Given UUID to check with

Returns: True if the shape has the same as given UUID, otherwise false

Implements nav2_map_server::Shape.

Definition at line 320 of file vector_object_shapes.cpp.

References params_.

◆ obtainParams()

bool nav2_map_server::Circle::obtainParams ( const std::string & shape_name )

virtual

Supporting routine obtaining ROS-parameters for the given vector object.

Parameters

shape_name Name of the shape

Returns: True if all parameters were obtained or false in failure case

Implements nav2_map_server::Shape.

Definition at line 330 of file vector_object_shapes.cpp.

References center_, nav2_map_server::Shape::node_, nav2_map_server::Shape::obtainShapeUUID(), and params_.

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◆ putBorders()

void nav2_map_server::Circle::putBorders	(	nav_msgs::msg::OccupancyGrid::SharedPtr	map,
		const OverlayType	overlay_type
	)

virtual

Puts shape borders on map.

Parameters

map	Output map pointer
overlay_type	Overlay type

Implements nav2_map_server::Shape.

Definition at line 450 of file vector_object_shapes.cpp.

References centerToMap(), params_, and putPoint().

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◆ putPoint()

void nav2_map_server::Circle::putPoint	(	unsigned int	mx,
		unsigned int	my,
		nav_msgs::msg::OccupancyGrid::SharedPtr	map,
		const OverlayType	overlay_type
	)

inlineprotected

Put Circle's point on map.

Parameters

mx	X-coordinate of given point
my	Y-coordinate of given point
map	Output map pointer
overlay_type	Overlay type

Definition at line 551 of file vector_object_shapes.cpp.

References params_.

Referenced by putBorders().

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◆ setParams()

bool nav2_map_server::Circle::setParams ( const nav2_msgs::msg::CircleObject::SharedPtr params )

Tries to update Circle parameters.

Returns: False in case of inconsistent shape

Definition at line 395 of file vector_object_shapes.cpp.

References center_, checkConsistency(), and params_.

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◆ toFrame()

bool nav2_map_server::Circle::toFrame	(	const std::string &	to_frame,
		const std::shared_ptr< tf2_ros::Buffer >	tf_buffer,
		const double	transform_tolerance
	)

virtual

Transforms shape coordinates to a new frame.

Parameters

to_frame	Frame ID to transform to
tf_buffer	TF buffer to use for the transformation
transform_tolerance	Transform tolerance

Returns: Whether it was transformed successfully

Implements nav2_map_server::Shape.

Definition at line 412 of file vector_object_shapes.cpp.

References center_, and params_.

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

nav2_map_server/include/nav2_map_server/vector_object_shapes.hpp
nav2_map_server/src/vo_server/vector_object_shapes.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ centerToMap()

◆ checkConsistency()

◆ getBoundaries()

◆ getFrameID()

◆ getParams()

◆ getUUID()

◆ getValue()

◆ isFill()

◆ isPointInside()

◆ isUUID()

◆ obtainParams()

◆ putBorders()

◆ putPoint()

◆ setParams()

◆ toFrame()