OctomapMapsManager Class Reference

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

#include <OctomapMapsManager.hpp>

Inheritance diagram for OctomapMapsManager:

Collaboration diagram for OctomapMapsManager:

Public Member Functions
	OctomapMapsManager ()
	Default constructor.
virtual void	on_initialize () override
	Initializes the maps manager.
virtual void	update (::easynav::NavState &nav_state) override
	Updates the internal maps using the current navigation state.
	~OctomapMapsManager ()
	Destructor.

Protected Attributes
std::string	map_path_
	Full path to the map file.

Detailed Description

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

This manager implements a minimal mapping approach using boolean grid maps (SimpleMap) for both static and dynamic maps. It supports publishing and receiving ROS occupancy grids.

Constructor & Destructor Documentation

OctomapMapsManager()

OctomapMapsManager

(

)

Default constructor.

~OctomapMapsManager()

~OctomapMapsManager

(

)

Destructor.

Member Function Documentation

on_initialize()

void on_initialize ( )

overridevirtual

Initializes the maps manager.

Creates necessary publishers/subscribers and initializes the map instances.

Exceptions

std::runtime_error

if initialization fails.

update()

void update ( ::easynav::NavState & nav_state )

overridevirtual

Updates the internal maps using the current navigation state.

Intended to be called periodically. May perform dynamic map updates based on new sensor data or internal state.

Parameters

nav_state

Current state of the navigation system.

Member Data Documentation

map_path_

std::string map_path_

protected

Full path to the map file.

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

• maps_managers/easynav_octomap_maps_manager/include/easynav_octomap_maps_manager/OctomapMapsManager.hpp
• maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/OctomapMapsManager.cpp