#include <InflationFilter.hpp>

Inheritance diagram for InflationFilter:

Collaboration diagram for InflationFilter:

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Public Member Functions
unsigned char	computeCost (double distance) const
	Given a distance, compute a cost.

double	getCostScalingFactor ()

double	getInflationRadius ()

	InflationFilter ()

void	matchSize (easynav::Costmap2D &costmap)
	Match the size of the master costmap.

virtual std::expected< void, std::string >	on_initialize ()

virtual void	update (NavState &nav_state)

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.

void	updateCosts (easynav::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.

Public Member Functions inherited from CostmapFilter
	CostmapFilter ()

std::expected< void, std::string >	initialize (const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > parent_node, const std::string &plugin_name, const std::string &tf_prefix="")

Protected Member Functions
unsigned int	cellDistance (easynav::Costmap2D &costmap, double world_dist)
	Compute cached dsitances.

void	computeCaches ()
	Compute cached dsitances.

unsigned char	costLookup (unsigned int mx, unsigned int my, unsigned int src_x, unsigned int src_y)
	Lookup pre-computed costs.

double	distanceLookup (unsigned int mx, unsigned int my, unsigned int src_x, unsigned int src_y)
	Lookup pre-computed distances.

void	enqueue (unsigned int index, unsigned int mx, unsigned int my, unsigned int src_x, unsigned int src_y)
	Enqueue new cells in cache distance update search.

int	generateIntegerDistances ()
	Compute cached dsitances.

Protected Member Functions inherited from CostmapFilter
std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node () const

const std::string &	get_plugin_name () const

const std::string &	get_tf_prefix () const

Protected Attributes
unsigned int	cache_length_

unsigned int	cached_cell_inflation_radius_

std::vector< unsigned char >	cached_costs_

std::vector< double >	cached_distances_

unsigned int	cell_inflation_radius_

double	cost_scaling_factor_

std::vector< std::vector< int > >	distance_matrix_

bool	inflate_around_unknown_

bool	inflate_unknown_

std::vector< std::vector< CellData > >	inflation_cells_

double	inflation_radius_

double	inscribed_radius_

double	last_max_x_

double	last_max_y_

double	last_min_x_

double	last_min_y_

bool	matchedSize_ {false}

bool	need_reinflation_

double	resolution_

std::vector< bool >	seen_

Protected Attributes inherited from CostmapFilter
std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	parent_node_ {nullptr}

std::string	plugin_name_

std::string	tf_prefix_

Constructor & Destructor Documentation

◆ InflationFilter()

InflationFilter ( )

Member Function Documentation

◆ cellDistance()

unsigned int cellDistance	(	easynav::Costmap2D &	costmap,
		double	world_dist )

protected

Compute cached dsitances.

◆ computeCaches()

void computeCaches ( )

protected

Compute cached dsitances.

◆ computeCost()

unsigned char computeCost ( double distance ) const

Given a distance, compute a cost.

Parameters

distance The distance from an obstacle in cells

Returns: A cost value for the distance

◆ costLookup()

unsigned char costLookup	(	unsigned int	mx,
		unsigned int	my,
		unsigned int	src_x,
		unsigned int	src_y )

protected

Lookup pre-computed costs.

Parameters

mx	The x coordinate of the current cell
my	The y coordinate of the current cell
src_x	The x coordinate of the source cell
src_y	The y coordinate of the source cell

Returns

◆ distanceLookup()

double distanceLookup	(	unsigned int	mx,
		unsigned int	my,
		unsigned int	src_x,
		unsigned int	src_y )

protected

Lookup pre-computed distances.

Parameters

mx	The x coordinate of the current cell
my	The y coordinate of the current cell
src_x	The x coordinate of the source cell
src_y	The y coordinate of the source cell

Returns

◆ enqueue()

void enqueue	(	unsigned int	index,
		unsigned int	mx,
		unsigned int	my,
		unsigned int	src_x,
		unsigned int	src_y )

protected

Enqueue new cells in cache distance update search.

Given an index of a cell in the costmap, place it into a list pending for obstacle inflation.

Parameters

grid	The costmap
index	The index of the cell
mx	The x coordinate of the cell (can be computed from the index, but saves time to store it)
my	The y coordinate of the cell (can be computed from the index, but saves time to store it)
src_x	The x index of the obstacle point inflation started at
src_y	The y index of the obstacle point inflation started at

◆ generateIntegerDistances()

int generateIntegerDistances ( )

protected

Compute cached dsitances.

◆ getCostScalingFactor()

double getCostScalingFactor ( )

◆ getInflationRadius()

double getInflationRadius ( )

◆ matchSize()

void matchSize ( easynav::Costmap2D & costmap )

Match the size of the master costmap.

◆ on_initialize()

std::expected< void, std::string > on_initialize ( )

virtual

Implements CostmapFilter.

◆ update()

void update ( NavState & nav_state )

virtual

Implements CostmapFilter.

◆ updateBounds()

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.

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

◆ updateCosts()

void updateCosts	(	easynav::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.

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

Member Data Documentation

◆ cache_length_

unsigned int cache_length_

protected

◆ cached_cell_inflation_radius_

unsigned int cached_cell_inflation_radius_

protected

◆ cached_costs_

std::vector<unsigned char> cached_costs_

protected

◆ cached_distances_

std::vector<double> cached_distances_

protected

◆ cell_inflation_radius_

unsigned int cell_inflation_radius_

protected

◆ cost_scaling_factor_

double cost_scaling_factor_

protected

◆ distance_matrix_

std::vector<std::vector<int> > distance_matrix_

protected

◆ inflate_around_unknown_

bool inflate_around_unknown_

protected

◆ inflate_unknown_

bool inflate_unknown_

protected

◆ inflation_cells_

std::vector<std::vector<CellData> > inflation_cells_

protected

◆ inflation_radius_

double inflation_radius_

protected

◆ inscribed_radius_

double inscribed_radius_

protected

◆ last_max_x_

double last_max_x_

protected

◆ last_max_y_

double last_max_y_

protected

◆ last_min_x_

double last_min_x_

protected

◆ last_min_y_

double last_min_y_

protected

◆ matchedSize_

bool matchedSize_ {false}

protected

◆ need_reinflation_

bool need_reinflation_

protected

◆ resolution_

double resolution_

protected

◆ seen_

std::vector<bool> seen_

protected

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

easynav_costmap_maps_manager/include/easynav_costmap_maps_manager/filters/InflationFilter.hpp
easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/filters/InflationFilter.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ InflationFilter()

Member Function Documentation

◆ cellDistance()

◆ computeCaches()

◆ computeCost()

◆ costLookup()

◆ distanceLookup()

◆ enqueue()

◆ generateIntegerDistances()

◆ getCostScalingFactor()

◆ getInflationRadius()

◆ matchSize()

◆ on_initialize()

◆ update()

◆ updateBounds()

◆ updateCosts()

Member Data Documentation

◆ cache_length_

◆ cached_cell_inflation_radius_

◆ cached_costs_

◆ cached_distances_

◆ cell_inflation_radius_

◆ cost_scaling_factor_

◆ distance_matrix_

◆ inflate_around_unknown_

◆ inflate_unknown_

◆ inflation_cells_

◆ inflation_radius_

◆ inscribed_radius_

◆ last_max_x_

◆ last_max_y_

◆ last_min_x_

◆ last_min_y_

◆ matchedSize_

◆ need_reinflation_

◆ resolution_

◆ seen_