Provides a mapping for often used cost values. More...

Classes
class	AMCLLocalizer
	A localization method implementing a simplified AMCL (Adaptive Monte Carlo Localization) approach. More...

class	CellData

class	Costmap2D
	A 2D costmap provides a mapping between points in the world and their associated "costs". More...

class	CostmapFilter

class	CostmapMapsManager
	A plugin-based map manager using the SimpleMap data structure. More...

class	CostmapPlanner
	A planner implementing the A* algorithm on a Costmap2D grid. More...

struct	GridNode

class	InflationFilter

struct	LoadParameters

struct	MapLocation

class	ObstacleFilter

struct	Particle
	Structure representing a single particle in the AMCL algorithm. More...

struct	SaveParameters

Enumerations
enum class	CombinationMethod : int { Overwrite = 0 , Max = 1 , MaxWithoutUnknownOverwrite = 2 }

enum	LOAD_MAP_STATUS { LOAD_MAP_SUCCESS , MAP_DOES_NOT_EXIST , INVALID_MAP_METADATA , INVALID_MAP_DATA }

enum class	MapMode { Trinary , Scale , Raw }

Functions
double	calculate_path_length (const nav_msgs::msg::Path &path, size_t start_index=0)
	Calculate the length of the provided path, starting at the provided index.

void	checkSaveParameters (SaveParameters &save_parameters)
	Checks map saving parameters for consistency.

tf2::Matrix3x3	computeCovariance (const std::vector< Particle > &particles, std::size_t start, std::size_t count, const tf2::Vector3 &mean)

tf2::Vector3	computeMean (const std::vector< Particle > &particles, std::size_t start, std::size_t count)

double	computeYawVariance (const std::vector< Particle > &particles, std::size_t start, std::size_t count)

double	euclidean_distance (const geometry_msgs::msg::Point &pos1, const geometry_msgs::msg::Point &pos2, const bool is_3d=false)
	Get the euclidean distance between 2 geometry_msgs::Points.

double	euclidean_distance (const geometry_msgs::msg::Pose &pos1, const geometry_msgs::msg::Pose &pos2, const bool is_3d=false)
	Get the L2 distance between 2 geometry_msgs::Poses.

double	euclidean_distance (const geometry_msgs::msg::PoseStamped &pos1, const geometry_msgs::msg::PoseStamped &pos2, const bool is_3d=false)
	Get the L2 distance between 2 geometry_msgs::PoseStamped.

std::string	expand_user_home_dir_if_needed (std::string yaml_filename, std::string home_dir)
	Expand ~/ to home user dir.

double	extractYaw (const tf2::Transform &transform)

template<typename Iter, typename Getter>
Iter	first_after_integrated_distance (Iter begin, Iter end, Getter getCompareVal)
	Find first element in iterator that is greater integrated distance than comparevalue.

std::string	get_home_dir ()

void	loadMapFromFile (const LoadParameters &load_parameters, nav_msgs::msg::OccupancyGrid &map)
	Load the image from map file and generate an OccupancyGrid.

LOAD_MAP_STATUS	loadMapFromYaml (const std::string &yaml_file, nav_msgs::msg::OccupancyGrid &map)
	Load the map YAML, image from map file and generate an OccupancyGrid.

LoadParameters	loadMapYaml (const std::string &yaml_filename)
	Load and parse the given YAML file.

MapMode	map_mode_from_string (std::string map_mode_name)
	Convert the name of a map mode to a MapMode enum.

const char *	map_mode_to_string (MapMode map_mode)
	Convert a MapMode enum to the name of the map mode.

template<typename Iter, typename Getter>
Iter	min_by (Iter begin, Iter end, Getter getCompareVal)
	Find element in iterator with the minimum calculated value.

geometry_msgs::msg::Quaternion	orientationAroundZAxis (double angle)
	Get a geometry_msgs Quaternion from a yaw angle.

void	printTransform (const tf2::Transform &tf)

bool	saveMapToFile (const nav_msgs::msg::OccupancyGrid &map, const SaveParameters &save_parameters)
	Write OccupancyGrid map to file.

void	tryWriteMapToFile (const nav_msgs::msg::OccupancyGrid &map, const SaveParameters &save_parameters)
	Tries to write map data into a file.

template<typename T>
T	yaml_get_value (const YAML::Node &node, const std::string &key)
	Get the given subnode value.

Detailed Description

Provides a mapping for often used cost values.

Enumeration Type Documentation

◆ CombinationMethod

enum class CombinationMethod : int

strong

Enumerator

Overwrite

Overwrite means every valid value from this layer is written into the master grid (does not copy NO_INFORMATION)

Max

Sets the new value to the maximum of the master_grid's value and this layer's value.

If the master value is NO_INFORMATION, it is overwritten. If the layer's value is NO_INFORMATION, the master value does not change

MaxWithoutUnknownOverwrite

Sets the new value to the maximum of the master_grid's value and this layer's value.

If the master value is NO_INFORMATION, it is NOT overwritten. If the layer's value is NO_INFORMATION, the master value does not change.

◆ LOAD_MAP_STATUS

enum LOAD_MAP_STATUS

Enumerator
LOAD_MAP_SUCCESS
MAP_DOES_NOT_EXIST
INVALID_MAP_METADATA
INVALID_MAP_DATA

◆ MapMode

enum class MapMode

strong

Enumerator
Trinary	Together with associated threshold values (occupied and free): lightness >= occupied threshold - Occupied (100) ... (anything in between) - Unknown (-1) lightness <= free threshold - Free (0)
Scale	Together with associated threshold values (occupied and free): alpha < 1.0 - Unknown (-1) lightness >= occ_th - Occupied (100) ... (linearly interpolate to) lightness <= free_th - Free (0)
Raw	Lightness = 0 - Free (0) ... (linearly interpolate to) Lightness = 100 - Occupied (100) Lightness >= 101 - Unknown.

Function Documentation

◆ calculate_path_length()

double calculate_path_length	(	const nav_msgs::msg::Path &	path,
		size_t	start_index = 0 )

Calculate the length of the provided path, starting at the provided index.

Parameters

path	Path containing the poses that are planned
start_index	Optional argument specifying the starting index for the calculation of path length. Provide this if you want to calculate length of a subset of the path.

Returns: double Path length

◆ checkSaveParameters()

void checkSaveParameters ( SaveParameters & save_parameters )

Checks map saving parameters for consistency.

Parameters

save_parameters Map saving parameters. NOTE: save_parameters could be updated during function execution.

Exceptions

std::exception in case of inconsistent parameters

◆ computeCovariance()

tf2::Matrix3x3 computeCovariance	(	const std::vector< Particle > &	particles,
		std::size_t	start,
		std::size_t	count,
		const tf2::Vector3 &	mean )

◆ computeMean()

tf2::Vector3 computeMean	(	const std::vector< Particle > &	particles,
		std::size_t	start,
		std::size_t	count )

◆ computeYawVariance()

double computeYawVariance	(	const std::vector< Particle > &	particles,
		std::size_t	start,
		std::size_t	count )

◆ euclidean_distance() [1/3]

double euclidean_distance	(	const geometry_msgs::msg::Point &	pos1,
		const geometry_msgs::msg::Point &	pos2,
		const bool	is_3d = false )

Get the euclidean distance between 2 geometry_msgs::Points.

Parameters

pos1	First point
pos1	Second point
is_3d	True if a true L2 distance is desired (default false)

Returns: double L2 distance

◆ euclidean_distance() [2/3]

double euclidean_distance	(	const geometry_msgs::msg::Pose &	pos1,
		const geometry_msgs::msg::Pose &	pos2,
		const bool	is_3d = false )

Get the L2 distance between 2 geometry_msgs::Poses.

Parameters

pos1	First pose
pos1	Second pose
is_3d	True if a true L2 distance is desired (default false)

Returns: double euclidean distance

◆ euclidean_distance() [3/3]

double euclidean_distance	(	const geometry_msgs::msg::PoseStamped &	pos1,
		const geometry_msgs::msg::PoseStamped &	pos2,
		const bool	is_3d = false )

Get the L2 distance between 2 geometry_msgs::PoseStamped.

Parameters

pos1	First pose
pos1	Second pose
is_3d	True if a true L2 distance is desired (default false)

Returns: double L2 distance

◆ expand_user_home_dir_if_needed()

std::string expand_user_home_dir_if_needed	(	std::string	yaml_filename,
		std::string	home_dir )

Expand ~/ to home user dir.

Parameters

yaml_filename	Name of input YAML file.
home_dir	Expanded `~/`home dir or empty string if HOME not set

Returns: Expanded string or input string if ~/ not expanded

◆ extractYaw()

double extractYaw ( const tf2::Transform & transform )

◆ first_after_integrated_distance()

template<typename Iter, typename Getter>

Iter first_after_integrated_distance	(	Iter	begin,
		Iter	end,
		Getter	getCompareVal )

Find first element in iterator that is greater integrated distance than comparevalue.

◆ get_home_dir()

std::string get_home_dir ( )

◆ loadMapFromFile()

void loadMapFromFile	(	const LoadParameters &	load_parameters,
		nav_msgs::msg::OccupancyGrid &	map )

Load the image from map file and generate an OccupancyGrid.

Parameters

load_parameters	Parameters of loading map
map	Output loaded map

Exceptions

std::exception

◆ loadMapFromYaml()

LOAD_MAP_STATUS loadMapFromYaml	(	const std::string &	yaml_file,
		nav_msgs::msg::OccupancyGrid &	map )

Load the map YAML, image from map file and generate an OccupancyGrid.

Parameters

yaml_file	Name of input YAML file
map	Output loaded map

Returns: status of map loaded

◆ loadMapYaml()

LoadParameters loadMapYaml ( const std::string & yaml_filename )

Load and parse the given YAML file.

Parameters

yaml_filename Name of the map file passed though parameter

Returns: Map loading parameters obtained from YAML file

Exceptions

YAML::Exception

◆ map_mode_from_string()

MapMode map_mode_from_string ( std::string map_mode_name )

Convert the name of a map mode to a MapMode enum.

Parameters

map_mode_name Name of the map mode

Exceptions

std::invalid_argument if the name does not name a map mode

Returns: map mode corresponding to the string

◆ map_mode_to_string()

const char * map_mode_to_string ( MapMode map_mode )

Convert a MapMode enum to the name of the map mode.

Parameters

map_mode Mode for the map

Returns: String identifier of the given map mode

Exceptions

std::invalid_argument if the given value is not a defined map mode

◆ min_by()

template<typename Iter, typename Getter>

Iter min_by	(	Iter	begin,
		Iter	end,
		Getter	getCompareVal )

Find element in iterator with the minimum calculated value.

◆ orientationAroundZAxis()

geometry_msgs::msg::Quaternion orientationAroundZAxis ( double angle )

Get a geometry_msgs Quaternion from a yaw angle.

Parameters

angle Yaw angle to generate a quaternion from

Returns: geometry_msgs Quaternion

◆ printTransform()

void printTransform ( const tf2::Transform & tf )

◆ saveMapToFile()

bool saveMapToFile	(	const nav_msgs::msg::OccupancyGrid &	map,
		const SaveParameters &	save_parameters )

Write OccupancyGrid map to file.

Parameters

map	OccupancyGrid map data
save_parameters	Map saving parameters.

Returns: true or false

◆ tryWriteMapToFile()

void tryWriteMapToFile	(	const nav_msgs::msg::OccupancyGrid &	map,
		const SaveParameters &	save_parameters )

Tries to write map data into a file.

Parameters

map	Occupancy grid data
save_parameters	Map saving parameters

Exceptions

std::exception in case of problem

◆ yaml_get_value()

template<typename T>

T yaml_get_value	(	const YAML::Node &	node,
		const std::string &	key )

Get the given subnode value.

The only reason this function exists is to wrap the exceptions in slightly nicer error messages, including the name of the failed key

Exceptions

YAML::Exception

Classes

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ CombinationMethod

◆ LOAD_MAP_STATUS

◆ MapMode

Function Documentation

◆ calculate_path_length()

◆ checkSaveParameters()

◆ computeCovariance()

◆ computeMean()

◆ computeYawVariance()

◆ euclidean_distance() [1/3]

◆ euclidean_distance() [2/3]

◆ euclidean_distance() [3/3]

◆ expand_user_home_dir_if_needed()

◆ extractYaw()

◆ first_after_integrated_distance()

◆ get_home_dir()

◆ loadMapFromFile()

◆ loadMapFromYaml()

◆ loadMapYaml()

◆ map_mode_from_string()

◆ map_mode_to_string()

◆ min_by()

◆ orientationAroundZAxis()

◆ printTransform()

◆ saveMapToFile()

◆ tryWriteMapToFile()

◆ yaml_get_value()