Basic class, other vector objects to be inherited from. More...

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

Inheritance diagram for nav2_map_server::Shape:

Public Member Functions
	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...

virtual int8_t	getValue () const =0
	Gets the value of the shape. Empty virtual method intended to be used in child implementations. More...

virtual std::string	getFrameID () const =0
	Gets frame ID of the shape. Empty virtual method intended to be used in child implementations. More...

virtual std::string	getUUID () const =0
	Gets UUID of the shape. Empty virtual method intended to be used in child implementations. More...

virtual bool	isUUID (const unsigned char *uuid) const =0
	Checks whether the shape is equal to a given UUID. Empty virtual method intended to be used in child implementations. More...

virtual bool	isFill () const =0
	Whether the shape to be filled or only its borders to be put on map. Empty virtual method intended to be used in child implementations. More...

virtual bool	obtainParams (const std::string &shape_name)=0
	Supporting routine obtaining ROS-parameters for the given vector object. Empty virtual method intended to be used in child implementations. More...

virtual bool	toFrame (const std::string &to_frame, const std::shared_ptr< tf2_ros::Buffer > tf_buffer, const double transform_tolerance)=0
	Transforms shape coordinates to a new frame. Empty virtual method intended to be used in child implementations. More...

virtual void	getBoundaries (double &min_x, double &min_y, double &max_x, double &max_y)=0
	Gets shape box-boundaries. Empty virtual method intended to be used in child implementations. More...

virtual bool	isPointInside (const double px, const double py) const =0
	Is the point inside the shape. Empty virtual method intended to be used in child implementations. More...

virtual void	putBorders (nav_msgs::msg::OccupancyGrid::SharedPtr map, const OverlayType overlay_type)=0
	Puts shape borders on map. Empty virtual method intended to be used in child implementations. More...

Protected Attributes
ShapeType	type_
	Type of shape.

nav2::LifecycleNode::WeakPtr	node_
	VectorObjectServer node.

Detailed Description

Basic class, other vector objects to be inherited from.

Definition at line 46 of file vector_object_shapes.hpp.

Constructor & Destructor Documentation

◆ Shape()

nav2_map_server::Shape::Shape ( const nav2::LifecycleNode::WeakPtr & node )

explicit

Shape basic class constructor.

Parameters

node	Vector Object server node pointer

Definition at line 37 of file vector_object_shapes.cpp.

Member Function Documentation

◆ getBoundaries()

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

pure virtual

Gets shape box-boundaries. Empty virtual method intended to be used in child implementations.

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

Implemented in nav2_map_server::Circle, and nav2_map_server::Polygon.

◆ getFrameID()

virtual std::string nav2_map_server::Shape::getFrameID ( ) const

pure virtual

Gets frame ID of the shape. Empty virtual method intended to be used in child implementations.

Returns: Frame ID where the shape is

Implemented in nav2_map_server::Circle, and nav2_map_server::Polygon.

◆ getType()

ShapeType nav2_map_server::Shape::getType ( )

Returns type of the shape.

Returns: Type of the shape

Definition at line 44 of file vector_object_shapes.cpp.

References type_.

◆ getUUID()

virtual std::string nav2_map_server::Shape::getUUID ( ) const

pure virtual

Gets UUID of the shape. Empty virtual method intended to be used in child implementations.

Returns: Shape UUID string

Implemented in nav2_map_server::Circle, and nav2_map_server::Polygon.

◆ getValue()

virtual int8_t nav2_map_server::Shape::getValue ( ) const

pure virtual

Gets the value of the shape. Empty virtual method intended to be used in child implementations.

Returns: OccupancyGrid value of the shape

Implemented in nav2_map_server::Circle, and nav2_map_server::Polygon.

◆ isFill()

virtual bool nav2_map_server::Shape::isFill ( ) const

pure virtual

Whether the shape to be filled or only its borders to be put on map. Empty virtual method intended to be used in child implementations.

Returns: True if shape to be filled

Implemented in nav2_map_server::Circle, and nav2_map_server::Polygon.

◆ isPointInside()

virtual bool nav2_map_server::Shape::isPointInside	(	const double	px,
		const double	py
	)		const

pure virtual

Is the point inside the shape. Empty virtual method intended to be used in child implementations.

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

Implemented in nav2_map_server::Circle, and nav2_map_server::Polygon.

◆ isUUID()

virtual bool nav2_map_server::Shape::isUUID ( const unsigned char * uuid ) const

pure virtual

Checks whether the shape is equal to a given UUID. Empty virtual method intended to be used in child implementations.

Parameters

uuid	Given UUID to check with

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

Implemented in nav2_map_server::Circle, and nav2_map_server::Polygon.

◆ obtainParams()

virtual bool nav2_map_server::Shape::obtainParams ( const std::string & shape_name )

pure virtual

Supporting routine obtaining ROS-parameters for the given vector object. Empty virtual method intended to be used in child implementations.

Parameters

shape_name Name of the shape

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

Implemented in nav2_map_server::Circle, and nav2_map_server::Polygon.

◆ obtainShapeUUID()

bool nav2_map_server::Shape::obtainShapeUUID	(	const std::string &	shape_name,
		unsigned char *	out_uuid
	)

Supporting routine obtaining shape UUID from ROS-parameters for the given shape object.

Returns: True if UUID was obtained or false in failure case

Definition at line 49 of file vector_object_shapes.cpp.

References node_.

Referenced by nav2_map_server::Polygon::obtainParams(), and nav2_map_server::Circle::obtainParams().

Here is the caller graph for this function:

◆ putBorders()

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

pure virtual

Puts shape borders on map. Empty virtual method intended to be used in child implementations.

Parameters

map	Output map pointer
overlay_type	Overlay type

Implemented in nav2_map_server::Circle, and nav2_map_server::Polygon.

◆ toFrame()

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

pure virtual

Transforms shape coordinates to a new frame. Empty virtual method intended to be used in child implementations.

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

Implemented in nav2_map_server::Circle, and nav2_map_server::Polygon.

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 Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Shape()

Member Function Documentation

◆ getBoundaries()

◆ getFrameID()

◆ getType()

◆ getUUID()

◆ getValue()

◆ isFill()

◆ isPointInside()

◆ isUUID()

◆ obtainParams()

◆ obtainShapeUUID()

◆ putBorders()

◆ toFrame()