#include <rapp_static_layer.h>

Inheritance diagram for costmap_2d::RappStaticLayer:

Collaboration diagram for costmap_2d::RappStaticLayer:

Public Member Functions
	RappStaticLayer ()

virtual	~RappStaticLayer ()

virtual void	activate ()

virtual void	deactivate ()

virtual void	matchSize ()

virtual void	onInitialize ()

virtual void	reset ()

virtual void	updateBounds (double robot_x, double robot_y, double robot_yaw, double min_x, double min_y, double max_x, double max_y)

virtual void	updateCosts (costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j)

Private Member Functions
void	incomingMap (const nav_msgs::OccupancyGridConstPtr &new_map)
	Callback to update the costmap's map from the map_server. More...

void	incomingUpdate (const map_msgs::OccupancyGridUpdateConstPtr &update)

bool	incomingUpdateService (rapp_platform_ros_communications::Costmap2dRosSrvRequest &req, rapp_platform_ros_communications::Costmap2dRosSrvResponse &res)

unsigned char	interpretValue (unsigned char value)

void	reconfigureCB (costmap_2d::GenericPluginConfig &config, uint32_t level)

Private Attributes
ros::ServiceServer	costmap_update_service

dynamic_reconfigure::Server < costmap_2d::GenericPluginConfig > *	dsrv_

std::string	global_frame_
	The global frame for the costmap. More...

bool	has_updated_data_

unsigned int	height_

unsigned char	lethal_threshold_

boost::recursive_mutex	lock_

bool	map_received_

ros::Subscriber	map_sub_

ros::Subscriber	map_update_sub_

bool	subscribe_to_updates_

bool	track_unknown_space_

bool	trinary_costmap_

unsigned char	unknown_cost_value_

bool	use_maximum_

unsigned int	width_

unsigned int	x_

unsigned int	y_

Detailed Description

Definition at line 57 of file rapp_static_layer.h.

Constructor & Destructor Documentation

costmap_2d::RappStaticLayer::RappStaticLayer ( )

Definition at line 50 of file rapp_static_layer.cpp.

costmap_2d::RappStaticLayer::~RappStaticLayer ( )

virtual

Definition at line 52 of file rapp_static_layer.cpp.

Member Function Documentation

void costmap_2d::RappStaticLayer::activate ( )

virtual

Definition at line 257 of file rapp_static_layer.cpp.

void costmap_2d::RappStaticLayer::deactivate ( )

virtual

Definition at line 262 of file rapp_static_layer.cpp.

void costmap_2d::RappStaticLayer::incomingMap ( const nav_msgs::OccupancyGridConstPtr & new_map )

private

Callback to update the costmap's map from the map_server.

Parameters

new_map The map to put into the costmap. The origin of the new map along with its size will determine what parts of the costmap's static map are overwritten.

Definition at line 194 of file rapp_static_layer.cpp.

void costmap_2d::RappStaticLayer::incomingUpdate ( const map_msgs::OccupancyGridUpdateConstPtr & update )

private

Definition at line 238 of file rapp_static_layer.cpp.

bool costmap_2d::RappStaticLayer::incomingUpdateService	(	rapp_platform_ros_communications::Costmap2dRosSrvRequest &	req,
		rapp_platform_ros_communications::Costmap2dRosSrvResponse &	res
	)

private

Definition at line 148 of file rapp_static_layer.cpp.

unsigned char costmap_2d::RappStaticLayer::interpretValue ( unsigned char value )

private

Definition at line 180 of file rapp_static_layer.cpp.

void costmap_2d::RappStaticLayer::matchSize ( )

virtual

Definition at line 173 of file rapp_static_layer.cpp.

void costmap_2d::RappStaticLayer::onInitialize ( )

virtual

Definition at line 58 of file rapp_static_layer.cpp.

void costmap_2d::RappStaticLayer::reconfigureCB	(	costmap_2d::GenericPluginConfig &	config,
		uint32_t	level
	)

private

Definition at line 161 of file rapp_static_layer.cpp.

void costmap_2d::RappStaticLayer::reset ( )

virtual

Definition at line 269 of file rapp_static_layer.cpp.

void costmap_2d::RappStaticLayer::updateBounds	(	double	robot_x,
		double	robot_y,
		double	robot_yaw,
		double *	min_x,
		double *	min_y,
		double *	max_x,
		double *	max_y
	)

virtual

Definition at line 275 of file rapp_static_layer.cpp.

void costmap_2d::RappStaticLayer::updateCosts	(	costmap_2d::Costmap2D &	master_grid,
		int	min_i,
		int	min_j,
		int	max_i,
		int	max_j
	)

virtual

Definition at line 296 of file rapp_static_layer.cpp.

Member Data Documentation

ros::ServiceServer costmap_2d::RappStaticLayer::costmap_update_service

private

Definition at line 96 of file rapp_static_layer.h.

dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>* costmap_2d::RappStaticLayer::dsrv_

private

Definition at line 100 of file rapp_static_layer.h.

std::string costmap_2d::RappStaticLayer::global_frame_

private

The global frame for the costmap.

Definition at line 87 of file rapp_static_layer.h.

bool costmap_2d::RappStaticLayer::has_updated_data_

private

Definition at line 90 of file rapp_static_layer.h.

unsigned int costmap_2d::RappStaticLayer::height_

private

Definition at line 91 of file rapp_static_layer.h.

unsigned char costmap_2d::RappStaticLayer::lethal_threshold_

private

Definition at line 97 of file rapp_static_layer.h.

boost::recursive_mutex costmap_2d::RappStaticLayer::lock_

mutableprivate

Definition at line 99 of file rapp_static_layer.h.

bool costmap_2d::RappStaticLayer::map_received_

private

Definition at line 89 of file rapp_static_layer.h.

ros::Subscriber costmap_2d::RappStaticLayer::map_sub_

private

Definition at line 95 of file rapp_static_layer.h.

ros::Subscriber costmap_2d::RappStaticLayer::map_update_sub_

private

Definition at line 95 of file rapp_static_layer.h.

bool costmap_2d::RappStaticLayer::subscribe_to_updates_

private

Definition at line 88 of file rapp_static_layer.h.

bool costmap_2d::RappStaticLayer::track_unknown_space_

private

Definition at line 92 of file rapp_static_layer.h.

bool costmap_2d::RappStaticLayer::trinary_costmap_

private

Definition at line 94 of file rapp_static_layer.h.

unsigned char costmap_2d::RappStaticLayer::unknown_cost_value_

private

Definition at line 97 of file rapp_static_layer.h.

bool costmap_2d::RappStaticLayer::use_maximum_

private

Definition at line 93 of file rapp_static_layer.h.

unsigned int costmap_2d::RappStaticLayer::width_

private

Definition at line 91 of file rapp_static_layer.h.

unsigned int costmap_2d::RappStaticLayer::x_

private

Definition at line 91 of file rapp_static_layer.h.

unsigned int costmap_2d::RappStaticLayer::y_

private

Definition at line 91 of file rapp_static_layer.h.

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

/home/travis/rapp_temp/rapp-platform/rapp_path_planning/rapp_costmap2d/include/rapp_costmap_2d/rapp_static_layer.h
/home/travis/rapp_temp/rapp-platform/rapp_path_planning/rapp_costmap2d/plugins/rapp_static_layer.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation