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

#include <costmap_2d.h>

Inheritance diagram for costmap_2d::Costmap2D:

[legend]

Classes
class	MarkCell

class	PolygonOutlineCells

Public Types
typedef boost::recursive_mutex	mutex_t

Public Member Functions
unsigned int	cellDistance (double world_dist)
	Given distance in the world... convert it to cells. More...

void	convexFillCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that fill a convex polygon. More...

bool	copyCostmapWindow (const Costmap2D &map, double win_origin_x, double win_origin_y, double win_size_x, double win_size_y)
	Turn this costmap into a copy of a window of a costmap passed in. More...

	Costmap2D ()
	Default constructor. More...

	Costmap2D (const Costmap2D &map)
	Copy constructor for a costmap, creates a copy efficiently. More...

	Costmap2D (unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value=0)
	Constructor for a costmap. More...

unsigned char *	getCharMap () const
	Will return a pointer to the underlying unsigned char array used as the costmap. More...

unsigned char	getCost (unsigned int mx, unsigned int my) const
	Get the cost of a cell in the costmap. More...

unsigned char	getDefaultValue ()

unsigned int	getIndex (unsigned int mx, unsigned int my) const
	Given two map coordinates... compute the associated index. More...

mutex_t *	getMutex ()

double	getOriginX () const
	Accessor for the x origin of the costmap. More...

double	getOriginY () const
	Accessor for the y origin of the costmap. More...

double	getResolution () const
	Accessor for the resolution of the costmap. More...

unsigned int	getSizeInCellsX () const
	Accessor for the x size of the costmap in cells. More...

unsigned int	getSizeInCellsY () const
	Accessor for the y size of the costmap in cells. More...

double	getSizeInMetersX () const
	Accessor for the x size of the costmap in meters. More...

double	getSizeInMetersY () const
	Accessor for the y size of the costmap in meters. More...

double	getTimeStamp (unsigned int mx, unsigned int my) const
	Get the last update timestamp of the cell. More...

void	indexToCells (unsigned int index, unsigned int &mx, unsigned int &my) const
	Given an index... compute the associated map coordinates. More...

void	mapToWorld (unsigned int mx, unsigned int my, double &wx, double &wy) const
	Convert from map coordinates to world coordinates. More...

Costmap2D &	operator= (const Costmap2D &map)
	Overloaded assignment operator. More...

void	polygonOutlineCells (const std::vector< MapLocation > &polygon, std::vector< MapLocation > &polygon_cells)
	Get the map cells that make up the outline of a polygon. More...

void	resetMap (unsigned int x0, unsigned int y0, unsigned int xn, unsigned int yn)

void	resizeMap (unsigned int size_x, unsigned int size_y, double resolution, double origin_x, double origin_y)

bool	saveMap (std::string file_name)
	Save the costmap out to a pgm file. More...

bool	setConvexPolygonCost (const std::vector< geometry_msgs::Point > &polygon, unsigned char cost_value)
	Sets the cost of a convex polygon to a desired value. More...

void	setCost (unsigned int mx, unsigned int my, unsigned char cost)
	Set the cost of a cell in the costmap. More...

void	setDefaultValue (unsigned char c)

virtual void	updateOrigin (double new_origin_x, double new_origin_y)
	Move the origin of the costmap to a new location.... keeping data when it can. More...

bool	worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) const
	Convert from world coordinates to map coordinates. More...

void	worldToMapEnforceBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates, constraining results to legal bounds. More...

void	worldToMapNoBounds (double wx, double wy, int &mx, int &my) const
	Convert from world coordinates to map coordinates without checking for legal bounds. More...

virtual	~Costmap2D ()
	Destructor. More...

Protected Member Functions
template<typename data_type >
void	copyMapRegion (data_type source_map, unsigned int sm_lower_left_x, unsigned int sm_lower_left_y, unsigned int sm_size_x, data_type dest_map, unsigned int dm_lower_left_x, unsigned int dm_lower_left_y, unsigned int dm_size_x, unsigned int region_size_x, unsigned int region_size_y)
	Copy a region of a source map into a destination map. More...

virtual void	deleteMaps ()
	Deletes the costmap, static_map, and markers data structures. More...

virtual void	initMaps (unsigned int size_x, unsigned int size_y)
	Initializes the costmap, static_map, and markers data structures. More...

template<class ActionType >
void	raytraceLine (ActionType at, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, unsigned int max_length=UINT_MAX)
	Raytrace a line and apply some action at each step. More...

virtual void	resetMaps ()
	Resets the costmap and static_map to be unknown space. More...

Protected Attributes
unsigned char *	costmap_

unsigned char	default_value_

double	origin_x_

double	origin_y_

double	resolution_

unsigned int	size_x_

unsigned int	size_y_

double *	timestamps_

Private Member Functions
template<class ActionType >
void	bresenham2D (ActionType at, unsigned int abs_da, unsigned int abs_db, int error_b, int offset_a, int offset_b, unsigned int offset, unsigned int max_length)
	A 2D implementation of Bresenham's raytracing algorithm... applies an action at each step. More...

int	sign (int x)

Private Attributes
mutex_t *	access_

Friends
class	CostmapTester

Detailed Description

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

Definition at line 96 of file costmap_2d.h.

Member Typedef Documentation

◆ mutex_t

typedef boost::recursive_mutex costmap_2d::Costmap2D::mutex_t

Definition at line 338 of file costmap_2d.h.

Constructor & Destructor Documentation

◆ Costmap2D() [1/3]

costmap_2d::Costmap2D::Costmap2D	(	unsigned int	cells_size_x,
		unsigned int	cells_size_y,
		double	resolution,
		double	origin_x,
		double	origin_y,
		unsigned char	default_value = `0`
	)

Constructor for a costmap.

Parameters

cells_size_x	The x size of the map in cells
cells_size_y	The y size of the map in cells
resolution	The resolution of the map in meters/cell
origin_x	The x origin of the map
origin_y	The y origin of the map
default_value	Default Value

Definition at line 45 of file costmap_2d.cpp.

◆ Costmap2D() [2/3]

costmap_2d::Costmap2D::Costmap2D ( const Costmap2D & map )

Copy constructor for a costmap, creates a copy efficiently.

Parameters

map	The costmap to copy

Definition at line 170 of file costmap_2d.cpp.

◆ Costmap2D() [3/3]

costmap_2d::Costmap2D::Costmap2D ( )

Default constructor.

Definition at line 179 of file costmap_2d.cpp.

◆ ~Costmap2D()

costmap_2d::Costmap2D::~Costmap2D ( )

virtual

Destructor.

Definition at line 185 of file costmap_2d.cpp.

Member Function Documentation

◆ bresenham2D()

template<class ActionType >

void costmap_2d::Costmap2D::bresenham2D	(	ActionType	at,
		unsigned int	abs_da,
		unsigned int	abs_db,
		int	error_b,
		int	offset_a,
		int	offset_b,
		unsigned int	offset,
		unsigned int	max_length
	)

inlineprivate

A 2D implementation of Bresenham's raytracing algorithm... applies an action at each step.

Definition at line 440 of file costmap_2d.h.

◆ cellDistance()

unsigned int costmap_2d::Costmap2D::cellDistance ( double world_dist )

Given distance in the world... convert it to cells.

Parameters

world_dist The world distance

Returns: The equivalent cell distance

Definition at line 191 of file costmap_2d.cpp.

◆ convexFillCells()

void costmap_2d::Costmap2D::convexFillCells	(	const std::vector< MapLocation > &	polygon,
		std::vector< MapLocation > &	polygon_cells
	)

Get the map cells that fill a convex polygon.

Parameters

polygon	The polygon in map coordinates to rasterize
polygon_cells	Will be set to the cells that fill the polygon

Definition at line 380 of file costmap_2d.cpp.

◆ copyCostmapWindow()

bool costmap_2d::Costmap2D::copyCostmapWindow	(	const Costmap2D &	map,
		double	win_origin_x,
		double	win_origin_y,
		double	win_size_x,
		double	win_size_y
	)

Turn this costmap into a copy of a window of a costmap passed in.

Parameters

map	The costmap to copy
win_origin_x	The x origin (lower left corner) for the window to copy, in meters
win_origin_y	The y origin (lower left corner) for the window to copy, in meters
win_size_x	The x size of the window, in meters
win_size_y	The y size of the window, in meters

Definition at line 108 of file costmap_2d.cpp.

◆ copyMapRegion()

template<typename data_type >

void costmap_2d::Costmap2D::copyMapRegion	(	data_type *	source_map,
		unsigned int	sm_lower_left_x,
		unsigned int	sm_lower_left_y,
		unsigned int	sm_size_x,
		data_type *	dest_map,
		unsigned int	dm_lower_left_x,
		unsigned int	dm_lower_left_y,
		unsigned int	dm_size_x,
		unsigned int	region_size_x,
		unsigned int	region_size_y
	)

inlineprotected

Copy a region of a source map into a destination map.

Parameters

source_map	The source map
sm_lower_left_x	The lower left x point of the source map to start the copy
sm_lower_left_y	The lower left y point of the source map to start the copy
sm_size_x	The x size of the source map
dest_map	The destination map
dm_lower_left_x	The lower left x point of the destination map to start the copy
dm_lower_left_y	The lower left y point of the destination map to start the copy
dm_size_x	The x size of the destination map
region_size_x	The x size of the region to copy
region_size_y	The y size of the region to copy

Definition at line 359 of file costmap_2d.h.

◆ deleteMaps()

void costmap_2d::Costmap2D::deleteMaps ( )

protectedvirtual

Deletes the costmap, static_map, and markers data structures.

Definition at line 57 of file costmap_2d.cpp.

◆ getCharMap()

unsigned char * costmap_2d::Costmap2D::getCharMap ( ) const

Will return a pointer to the underlying unsigned char array used as the costmap.

Returns: A pointer to the underlying unsigned char array storing cost values

Definition at line 197 of file costmap_2d.cpp.

◆ getCost()

unsigned char costmap_2d::Costmap2D::getCost	(	unsigned int	mx,
		unsigned int	my
	)		const

Get the cost of a cell in the costmap.

Parameters

mx	The x coordinate of the cell
my	The y coordinate of the cell

Returns: The cost of the cell

Definition at line 202 of file costmap_2d.cpp.

◆ getDefaultValue()

unsigned char costmap_2d::Costmap2D::getDefaultValue ( )

inline

Definition at line 285 of file costmap_2d.h.

◆ getIndex()

unsigned int costmap_2d::Costmap2D::getIndex	(	unsigned int	mx,
		unsigned int	my
	)		const

inline

Given two map coordinates... compute the associated index.

Parameters

mx	The x coordinate
my	The y coordinate

Returns: The associated index

Definition at line 215 of file costmap_2d.h.

◆ getMutex()

mutex_t* costmap_2d::Costmap2D::getMutex ( )

inline

Definition at line 339 of file costmap_2d.h.

◆ getOriginX()

double costmap_2d::Costmap2D::getOriginX ( ) const

Accessor for the x origin of the costmap.

Returns: The x origin of the costmap

Definition at line 471 of file costmap_2d.cpp.

◆ getOriginY()

double costmap_2d::Costmap2D::getOriginY ( ) const

Accessor for the y origin of the costmap.

Returns: The y origin of the costmap

Definition at line 476 of file costmap_2d.cpp.

◆ getResolution()

double costmap_2d::Costmap2D::getResolution ( ) const

Accessor for the resolution of the costmap.

Returns: The resolution of the costmap

Definition at line 481 of file costmap_2d.cpp.

◆ getSizeInCellsX()

unsigned int costmap_2d::Costmap2D::getSizeInCellsX ( ) const

Accessor for the x size of the costmap in cells.

Returns: The x size of the costmap

Definition at line 451 of file costmap_2d.cpp.

◆ getSizeInCellsY()

unsigned int costmap_2d::Costmap2D::getSizeInCellsY ( ) const

Accessor for the y size of the costmap in cells.

Returns: The y size of the costmap

Definition at line 456 of file costmap_2d.cpp.

◆ getSizeInMetersX()

double costmap_2d::Costmap2D::getSizeInMetersX ( ) const

Accessor for the x size of the costmap in meters.

Returns: The x size of the costmap (returns the centerpoint of the last legal cell in the map)

Definition at line 461 of file costmap_2d.cpp.

◆ getSizeInMetersY()

double costmap_2d::Costmap2D::getSizeInMetersY ( ) const

Accessor for the y size of the costmap in meters.

Returns: The y size of the costmap (returns the centerpoint of the last legal cell in the map)

Definition at line 466 of file costmap_2d.cpp.

◆ getTimeStamp()

double costmap_2d::Costmap2D::getTimeStamp	(	unsigned int	mx,
		unsigned int	my
	)		const

Get the last update timestamp of the cell.

Parameters

mx	The x coordinate of the cell
my	The y coordinate of the cell

Returns: The last update timestamp of the cell (seconds)

Definition at line 207 of file costmap_2d.cpp.

◆ indexToCells()

void costmap_2d::Costmap2D::indexToCells	(	unsigned int	index,
		unsigned int &	mx,
		unsigned int &	my
	)		const

inline

Given an index... compute the associated map coordinates.

Parameters

index	The index
mx	Will be set to the x coordinate
my	Will be set to the y coordinate

Definition at line 226 of file costmap_2d.h.

◆ initMaps()

void costmap_2d::Costmap2D::initMaps	(	unsigned int	size_x,
		unsigned int	size_y
	)

protectedvirtual

Initializes the costmap, static_map, and markers data structures.

Parameters

size_x	The x size to use for map initialization
size_y	The y size to use for map initialization

Definition at line 67 of file costmap_2d.cpp.

◆ mapToWorld()

void costmap_2d::Costmap2D::mapToWorld	(	unsigned int	mx,
		unsigned int	my,
		double &	wx,
		double &	wy
	)		const

Convert from map coordinates to world coordinates.

Parameters

mx	The x map coordinate
my	The y map coordinate
wx	Will be set to the associated world x coordinate
wy	Will be set to the associated world y coordinate

Definition at line 218 of file costmap_2d.cpp.

◆ operator=()

Costmap2D & costmap_2d::Costmap2D::operator= ( const Costmap2D & map )

Overloaded assignment operator.

Parameters

map	The costmap to copy

Returns: A reference to the map after the copy has finished

Definition at line 145 of file costmap_2d.cpp.

◆ polygonOutlineCells()

void costmap_2d::Costmap2D::polygonOutlineCells	(	const std::vector< MapLocation > &	polygon,
		std::vector< MapLocation > &	polygon_cells
	)

Get the map cells that make up the outline of a polygon.

Parameters

polygon	The polygon in map coordinates to rasterize
polygon_cells	Will be set to the cells contained in the outline of the polygon

Definition at line 365 of file costmap_2d.cpp.

◆ raytraceLine()

template<class ActionType >

void costmap_2d::Costmap2D::raytraceLine	(	ActionType	at,
		unsigned int	x0,
		unsigned int	y0,
		unsigned int	x1,
		unsigned int	y1,
		unsigned int	max_length = `UINT_MAX`
	)

inlineprotected

Raytrace a line and apply some action at each step.

Parameters

at	The action to take... a functor
x0	The starting x coordinate
y0	The starting y coordinate
x1	The ending x coordinate
y1	The ending y coordinate
max_length	The maximum desired length of the segment... allows you to not go all the way to the endpoint

Definition at line 404 of file costmap_2d.h.

◆ resetMap()

void costmap_2d::Costmap2D::resetMap	(	unsigned int	x0,
		unsigned int	y0,
		unsigned int	xn,
		unsigned int	yn
	)

Definition at line 97 of file costmap_2d.cpp.

◆ resetMaps()

void costmap_2d::Costmap2D::resetMaps ( )

protectedvirtual

Resets the costmap and static_map to be unknown space.

Reimplemented in costmap_2d::VoxelLayer.

Definition at line 90 of file costmap_2d.cpp.

◆ resizeMap()

void costmap_2d::Costmap2D::resizeMap	(	unsigned int	size_x,
		unsigned int	size_y,
		double	resolution,
		double	origin_x,
		double	origin_y
	)

Definition at line 75 of file costmap_2d.cpp.

◆ saveMap()

bool costmap_2d::Costmap2D::saveMap ( std::string file_name )

Save the costmap out to a pgm file.

Parameters

file_name The name of the file to save

Definition at line 486 of file costmap_2d.cpp.

◆ setConvexPolygonCost()

bool costmap_2d::Costmap2D::setConvexPolygonCost	(	const std::vector< geometry_msgs::Point > &	polygon,
		unsigned char	cost_value
	)

Sets the cost of a convex polygon to a desired value.

Parameters

polygon	The polygon to perform the operation on
cost_value	The value to set costs to

Returns: True if the polygon was filled... false if it could not be filled

Definition at line 335 of file costmap_2d.cpp.

◆ setCost()

void costmap_2d::Costmap2D::setCost	(	unsigned int	mx,
		unsigned int	my,
		unsigned char	cost
	)

Set the cost of a cell in the costmap.

Parameters

mx	The x coordinate of the cell
my	The y coordinate of the cell
cost	The cost to set the cell to

Definition at line 212 of file costmap_2d.cpp.

◆ setDefaultValue()

void costmap_2d::Costmap2D::setDefaultValue ( unsigned char c )

inline

Definition at line 280 of file costmap_2d.h.

◆ sign()

int costmap_2d::Costmap2D::sign ( int x )

inlineprivate

Definition at line 458 of file costmap_2d.h.

◆ updateOrigin()

void costmap_2d::Costmap2D::updateOrigin	(	double	new_origin_x,
		double	new_origin_y
	)

virtual

Move the origin of the costmap to a new location.... keeping data when it can.

Parameters

new_origin_x	The x coordinate of the new origin
new_origin_y	The y coordinate of the new origin

Reimplemented in costmap_2d::VoxelLayer.

Definition at line 276 of file costmap_2d.cpp.

◆ worldToMap()

bool costmap_2d::Costmap2D::worldToMap	(	double	wx,
		double	wy,
		unsigned int &	mx,
		unsigned int &	my
	)		const

Convert from world coordinates to map coordinates.

Parameters

wx	The x world coordinate
wy	The y world coordinate
mx	Will be set to the associated map x coordinate
my	Will be set to the associated map y coordinate

Returns: True if the conversion was successful (legal bounds) false otherwise

Definition at line 224 of file costmap_2d.cpp.

◆ worldToMapEnforceBounds()

void costmap_2d::Costmap2D::worldToMapEnforceBounds	(	double	wx,
		double	wy,
		int &	mx,
		int &	my
	)		const

Convert from world coordinates to map coordinates, constraining results to legal bounds.

Parameters

wx	The x world coordinate
wy	The y world coordinate
mx	Will be set to the associated map x coordinate
my	Will be set to the associated map y coordinate

Note: The returned map coordinates are guaranteed to lie within the map.

Definition at line 244 of file costmap_2d.cpp.

◆ worldToMapNoBounds()

void costmap_2d::Costmap2D::worldToMapNoBounds	(	double	wx,
		double	wy,
		int &	mx,
		int &	my
	)		const

Convert from world coordinates to map coordinates without checking for legal bounds.

Parameters

wx	The x world coordinate
wy	The y world coordinate
mx	Will be set to the associated map x coordinate
my	Will be set to the associated map y coordinate

Note: The returned map coordinates are not guaranteed to lie within the map.

Definition at line 238 of file costmap_2d.cpp.

Friends And Related Function Documentation

◆ CostmapTester

friend class CostmapTester

friend

Definition at line 98 of file costmap_2d.h.

Member Data Documentation

◆ access_

mutex_t* costmap_2d::Costmap2D::access_

private

Definition at line 463 of file costmap_2d.h.

◆ costmap_

unsigned char* costmap_2d::Costmap2D::costmap_

protected

Definition at line 470 of file costmap_2d.h.

◆ default_value_

unsigned char costmap_2d::Costmap2D::default_value_

protected

Definition at line 471 of file costmap_2d.h.

◆ origin_x_

double costmap_2d::Costmap2D::origin_x_

protected

Definition at line 468 of file costmap_2d.h.

◆ origin_y_

double costmap_2d::Costmap2D::origin_y_

protected

Definition at line 469 of file costmap_2d.h.

◆ resolution_

double costmap_2d::Costmap2D::resolution_

protected

Definition at line 467 of file costmap_2d.h.

◆ size_x_

unsigned int costmap_2d::Costmap2D::size_x_

protected

Definition at line 465 of file costmap_2d.h.

◆ size_y_

unsigned int costmap_2d::Costmap2D::size_y_

protected

Definition at line 466 of file costmap_2d.h.

◆ timestamps_

double* costmap_2d::Costmap2D::timestamps_

protected

Definition at line 473 of file costmap_2d.h.

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

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ mutex_t

Constructor & Destructor Documentation

◆ Costmap2D() [1/3]

◆ Costmap2D() [2/3]

◆ Costmap2D() [3/3]

◆ ~Costmap2D()

Member Function Documentation

◆ bresenham2D()

◆ cellDistance()

◆ convexFillCells()

◆ copyCostmapWindow()

◆ copyMapRegion()

◆ deleteMaps()

◆ getCharMap()

◆ getCost()

◆ getDefaultValue()

◆ getIndex()

◆ getMutex()

◆ getOriginX()

◆ getOriginY()

◆ getResolution()

◆ getSizeInCellsX()

◆ getSizeInCellsY()

◆ getSizeInMetersX()

◆ getSizeInMetersY()

◆ getTimeStamp()

◆ indexToCells()

◆ initMaps()

◆ mapToWorld()

◆ operator=()

◆ polygonOutlineCells()

◆ raytraceLine()

◆ resetMap()

◆ resetMaps()

◆ resizeMap()

◆ saveMap()

◆ setConvexPolygonCost()

◆ setCost()

◆ setDefaultValue()

◆ sign()

◆ updateOrigin()

◆ worldToMap()

◆ worldToMapEnforceBounds()

◆ worldToMapNoBounds()

Friends And Related Function Documentation

◆ CostmapTester

Member Data Documentation

◆ access_

◆ costmap_

◆ default_value_

◆ origin_x_

◆ origin_y_

◆ resolution_

◆ size_x_

◆ size_y_

◆ timestamps_