InflationFilter Class Reference

#include <InflationFilter.hpp>

Inheritance diagram for InflationFilter:

Collaboration diagram for InflationFilter:

Classes
struct	StaticGeomSignature

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 void	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 ()
const std::string &	get_plugin_name () const
void	initialize (const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > parent_node, const std::string &plugin_name)

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)
	Given an index of a cell in the costmap, place it into a list pending for obstacle inflation.
int	generateIntegerDistances ()
	Compute cached dsitances.
bool	needs_recompute_static_ (const Costmap2D &static_map) const
void	recompute_static_inflation_ (const Costmap2D &static_map)
Protected Member Functions inherited from CostmapFilter
std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node () 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	has_static_inflated_ {false}
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_
Costmap2D	static_inflated_
struct easynav::InflationFilter::StaticGeomSignature	static_sig_
Protected Attributes inherited from CostmapFilter
std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	parent_node_ {nullptr}
std::string	plugin_name_

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

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.

needs_recompute_static_()

bool needs_recompute_static_ ( const Costmap2D & static_map ) const

protected

on_initialize()

void on_initialize ( )

virtual

Implements CostmapFilter.

recompute_static_inflation_()

void recompute_static_inflation_ ( const Costmap2D & static_map )

protected

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

has_static_inflated_

bool has_static_inflated_ {false}

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

static_inflated_

Costmap2D static_inflated_

protected

static_sig_

struct easynav::InflationFilter::StaticGeomSignature static_sig_

protected

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

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