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parent
5d8981eab6
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@ -5,11 +5,11 @@ set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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if (NOT TARGET sensor_msgs)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/sensor_msgs ${CMAKE_BINARY_DIR}/sensor_msgs_build)
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endif()
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if (NOT TARGET geometry_msgs)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
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add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
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endif()
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# ---- Dependencies ----
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@ -247,7 +247,7 @@ costmap_2d_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d
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geometry_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/geometry_msgs_build
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//Value Computed by CMake
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geometry_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/geometry_msgs
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geometry_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/geometry_msgs
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//Dependencies for the target
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layers_LIB_DEPENDS:STATIC=general;costmap_2d;general;Boost::system;general;Boost::thread;
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@ -256,13 +256,13 @@ layers_LIB_DEPENDS:STATIC=general;costmap_2d;general;Boost::system;general;Boost
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sensor_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build
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//Value Computed by CMake
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sensor_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/sensor_msgs
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sensor_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/sensor_msgs
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//Value Computed by CMake
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std_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/std_msgs_build
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//Value Computed by CMake
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std_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/std_msgs
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std_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/std_msgs
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########################
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@ -7,13 +7,13 @@ set(CMAKE_DEPENDS_GENERATOR "Unix Makefiles")
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# The top level Makefile was generated from the following files:
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set(CMAKE_MAKEFILE_DEPENDS
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"CMakeCache.txt"
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"/home/duongtd/robotics_core/common_msgs/geometry_msgs/CMakeLists.txt"
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"/home/duongtd/robotics_core/common_msgs/sensor_msgs/CMakeLists.txt"
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"/home/duongtd/robotics_core/common_msgs/std_msgs/CMakeLists.txt"
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"../CMakeLists.txt"
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"CMakeFiles/3.16.3/CMakeCCompiler.cmake"
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"CMakeFiles/3.16.3/CMakeCXXCompiler.cmake"
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"CMakeFiles/3.16.3/CMakeSystem.cmake"
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"/home/duongtd/robotics_core/geometry_msgs/CMakeLists.txt"
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"/home/duongtd/robotics_core/sensor_msgs/CMakeLists.txt"
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"/home/duongtd/robotics_core/std_msgs/CMakeLists.txt"
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"/usr/lib/cmake/eigen3/Eigen3Config.cmake"
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"/usr/lib/cmake/eigen3/Eigen3ConfigVersion.cmake"
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"/usr/lib/cmake/eigen3/Eigen3Targets.cmake"
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@ -6,99 +6,79 @@
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#IncludeRegexTransform:
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../include/costmap_2d/observation.h
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sensor_msgs/PointCloud2.h
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-
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geometry_msgs/Point.h
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-
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../include/costmap_2d/cost_values.h
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../include/costmap_2d/observation_buffer.h
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../include/costmap_2d/costmap_2d.h
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vector
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-
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list
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-
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string
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-
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chrono
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-
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costmap_2d/observation.h
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-
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tf2/buffer_core.h
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-
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sensor_msgs/PointCloud2.h
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-
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geometry_msgs/PointStamped.h
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-
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geometry_msgs/Point.h
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queue
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-
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boost/thread.hpp
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-
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/home/duongtd/robotics_core/costmap_2d/src/observation_buffer.cpp
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costmap_2d/observation_buffer.h
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-
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tf2/convert.h
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-
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sensor_msgs/point_cloud2_iterator.h
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-
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cstdint
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geometry_msgs/Point.h
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-
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/home/duongtd/robotics_core/geometry_msgs/include/geometry_msgs/Point.h
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../include/costmap_2d/costmap_layer.h
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costmap_2d/layer.h
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-
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costmap_2d/layered_costmap.h
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-
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../include/costmap_2d/footprint.h
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geometry_msgs/Point32.h
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-
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geometry_msgs/Polygon.h
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-
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geometry_msgs/PolygonStamped.h
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string.h
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vector
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-
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../include/costmap_2d/layer.h
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costmap_2d/costmap_2d.h
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-
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costmap_2d/layered_costmap.h
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-
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string
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-
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tf2/buffer_core.h
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-
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../include/costmap_2d/layered_costmap.h
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costmap_2d/cost_values.h
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-
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costmap_2d/layer.h
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costmap_2d/costmap_2d.h
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vector
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string
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-
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/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h
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cmath
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-
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iostream
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-
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/home/duongtd/robotics_core/geometry_msgs/include/geometry_msgs/PointStamped.h
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/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point32.h
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/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Polygon.h
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vector
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-
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geometry_msgs/Point32.h
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-
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/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/PolygonStamped.h
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std_msgs/Header.h
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/home/duongtd/robotics_core/geometry_msgs/include/geometry_msgs/std_msgs/Header.h
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geometry_msgs/Point.h
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/home/duongtd/robotics_core/geometry_msgs/include/geometry_msgs/geometry_msgs/Point.h
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/home/duongtd/robotics_core/sensor_msgs/include/sensor_msgs/PointCloud2.h
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cstdint
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-
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string
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-
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vector
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-
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std_msgs/Header.h
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/home/duongtd/robotics_core/sensor_msgs/include/sensor_msgs/std_msgs/Header.h
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sensor_msgs/PointField.h
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/home/duongtd/robotics_core/sensor_msgs/include/sensor_msgs/sensor_msgs/PointField.h
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/home/duongtd/robotics_core/sensor_msgs/include/sensor_msgs/PointField.h
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cstdint
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-
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string
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geometry_msgs/Polygon.h
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-
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/home/duongtd/robotics_core/sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.h
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sensor_msgs/PointCloud2.h
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-
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cstdarg
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-
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sstream
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-
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string
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-
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vector
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-
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/home/duongtd/robotics_core/sensor_msgs/include/sensor_msgs/point_cloud2_iterator.h
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sensor_msgs/PointCloud2.h
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-
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cstdarg
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string
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vector
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-
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sensor_msgs/impl/point_cloud2_iterator.h
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-
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/home/duongtd/robotics_core/std_msgs/include/std_msgs/Header.h
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/home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
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string
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-
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chrono
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cstdint
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-
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/home/duongtd/robotics_core/costmap_2d/src/costmap_layer.cpp
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costmap_2d/costmap_layer.h
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-
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/home/duongtd/robotics_core/costmap_2d/src/layer.cpp
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costmap_2d/layer.h
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/home/duongtd/robotics_core/costmap_2d/src/costmap_2d/layer.h
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/home/duongtd/robotics_core/costmap_2d/src/layered_costmap.cpp
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costmap_2d/layered_costmap.h
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-
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costmap_2d/footprint.h
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-
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cstdio
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-
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string
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vector
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@ -27,9 +27,9 @@ set(CMAKE_TARGET_DEFINITIONS_CXX
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set(CMAKE_CXX_TARGET_INCLUDE_PATH
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"../include"
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"/usr/include/eigen3"
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"/home/duongtd/robotics_core/sensor_msgs/include"
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"/home/duongtd/robotics_core/std_msgs/include"
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"/home/duongtd/robotics_core/geometry_msgs/include"
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"/home/duongtd/robotics_core/common_msgs/sensor_msgs/include"
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"/home/duongtd/robotics_core/common_msgs/std_msgs/include"
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"/home/duongtd/robotics_core/common_msgs/geometry_msgs/include"
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)
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# Targets to which this target links.
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|||
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@ -5,57 +5,57 @@ CMakeFiles/costmap_2d.dir/src/array_parser.cpp.o
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CMakeFiles/costmap_2d.dir/src/costmap_2d.cpp.o
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../include/costmap_2d/costmap_2d.h
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||||
/home/duongtd/robotics_core/costmap_2d/src/costmap_2d.cpp
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CMakeFiles/costmap_2d.dir/src/costmap_layer.cpp.o
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../include/costmap_2d/costmap_layer.h
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../include/costmap_2d/layer.h
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../include/costmap_2d/layered_costmap.h
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||||
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h
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/home/duongtd/robotics_core/costmap_2d/src/costmap_layer.cpp
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CMakeFiles/costmap_2d.dir/src/costmap_math.cpp.o
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/home/duongtd/robotics_core/geometry_msgs/include/geometry_msgs/Point.h
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../include/costmap_2d/footprint.h
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../include/costmap_2d/layer.h
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../include/costmap_2d/layered_costmap.h
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/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h
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/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point32.h
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/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/PolygonStamped.h
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||||
/home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
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||||
/home/duongtd/robotics_core/costmap_2d/src/layered_costmap.cpp
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/home/duongtd/robotics_core/geometry_msgs/include/geometry_msgs/Point.h
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/home/duongtd/robotics_core/geometry_msgs/include/geometry_msgs/Point32.h
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/home/duongtd/robotics_core/geometry_msgs/include/geometry_msgs/Polygon.h
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../include/costmap_2d/observation.h
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/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h
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/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/PointStamped.h
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/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.h
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/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/point_cloud2_iterator.h
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/home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
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/home/duongtd/robotics_core/costmap_2d/src/observation_buffer.cpp
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/home/duongtd/robotics_core/geometry_msgs/include/geometry_msgs/Point.h
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/home/duongtd/robotics_core/geometry_msgs/include/geometry_msgs/PointStamped.h
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/home/duongtd/robotics_core/sensor_msgs/include/sensor_msgs/PointCloud2.h
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/home/duongtd/robotics_core/sensor_msgs/include/sensor_msgs/PointField.h
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@ -4,58 +4,58 @@
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CMakeFiles/costmap_2d.dir/src/array_parser.cpp.o: ../src/array_parser.cpp
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CMakeFiles/costmap_2d.dir/src/costmap_layer.cpp.o: ../include/costmap_2d/layer.h
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CMakeFiles/costmap_2d.dir/src/costmap_layer.cpp.o: ../include/costmap_2d/layered_costmap.h
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CMakeFiles/costmap_2d.dir/src/costmap_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h
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|
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|
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|
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|
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sensor_msgs/JoyFeedback.h
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|
||||
/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/sensor_msgs/JoyFeedback.h
|
||||
|
||||
/home/duongtd/robotics_core/sensor_msgs/include/sensor_msgs/PointCloud2.h
|
||||
/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointCloud2.h
|
||||
cstdint
|
||||
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|
||||
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|
||||
|
|
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|||
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||||
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||||
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|
||||
/home/duongtd/robotics_core/sensor_msgs/include/sensor_msgs/std_msgs/Header.h
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||||
/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/std_msgs/Header.h
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sensor_msgs/PointField.h
|
||||
/home/duongtd/robotics_core/sensor_msgs/include/sensor_msgs/sensor_msgs/PointField.h
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||||
/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/sensor_msgs/PointField.h
|
||||
|
||||
/home/duongtd/robotics_core/sensor_msgs/include/sensor_msgs/PointField.h
|
||||
/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointField.h
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|
||||
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||||
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|
||||
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|
||||
|
||||
/home/duongtd/robotics_core/sensor_msgs/test/main.cpp
|
||||
/home/duongtd/robotics_core/common_msgs/sensor_msgs/test/main.cpp
|
||||
sensor_msgs/BatteryState.h
|
||||
/home/duongtd/robotics_core/sensor_msgs/test/sensor_msgs/BatteryState.h
|
||||
/home/duongtd/robotics_core/common_msgs/sensor_msgs/test/sensor_msgs/BatteryState.h
|
||||
sensor_msgs/JoyFeedbackArray.h
|
||||
/home/duongtd/robotics_core/sensor_msgs/test/sensor_msgs/JoyFeedbackArray.h
|
||||
/home/duongtd/robotics_core/common_msgs/sensor_msgs/test/sensor_msgs/JoyFeedbackArray.h
|
||||
sensor_msgs/PointCloud2.h
|
||||
/home/duongtd/robotics_core/sensor_msgs/test/sensor_msgs/PointCloud2.h
|
||||
/home/duongtd/robotics_core/common_msgs/sensor_msgs/test/sensor_msgs/PointCloud2.h
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||||
iostream
|
||||
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||||
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||||
/home/duongtd/robotics_core/std_msgs/include/std_msgs/Header.h
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||||
/home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
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||||
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# The set of files for implicit dependencies of each language:
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set(CMAKE_DEPENDS_CHECK_CXX
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"/home/duongtd/robotics_core/sensor_msgs/test/main.cpp" "/home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o"
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"/home/duongtd/robotics_core/sensor_msgs/include"
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"/home/duongtd/robotics_core/common_msgs/std_msgs/include"
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)
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@ -58,17 +58,17 @@ include sensor_msgs_build/CMakeFiles/test_battery_state.dir/progress.make
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include sensor_msgs_build/CMakeFiles/test_battery_state.dir/flags.make
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sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: sensor_msgs_build/CMakeFiles/test_battery_state.dir/flags.make
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sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/sensor_msgs/test/main.cpp
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sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/common_msgs/sensor_msgs/test/main.cpp
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cd /home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build && /usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -o CMakeFiles/test_battery_state.dir/test/main.cpp.o -c /home/duongtd/robotics_core/sensor_msgs/test/main.cpp
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cd /home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build && /usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -o CMakeFiles/test_battery_state.dir/test/main.cpp.o -c /home/duongtd/robotics_core/common_msgs/sensor_msgs/test/main.cpp
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sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.i: cmake_force
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cd /home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build && /usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/duongtd/robotics_core/sensor_msgs/test/main.cpp > CMakeFiles/test_battery_state.dir/test/main.cpp.i
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cd /home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build && /usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/duongtd/robotics_core/common_msgs/sensor_msgs/test/main.cpp > CMakeFiles/test_battery_state.dir/test/main.cpp.i
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sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.s: cmake_force
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@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/test_battery_state.dir/test/main.cpp.s"
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cd /home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build && /usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/robotics_core/sensor_msgs/test/main.cpp -o CMakeFiles/test_battery_state.dir/test/main.cpp.s
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cd /home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build && /usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/robotics_core/common_msgs/sensor_msgs/test/main.cpp -o CMakeFiles/test_battery_state.dir/test/main.cpp.s
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# Object files for target test_battery_state
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test_battery_state_OBJECTS = \
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/home/duongtd/robotics_core/sensor_msgs/include/sensor_msgs/PointField.h
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/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointCloud2.h
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/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointField.h
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/home/duongtd/robotics_core/common_msgs/sensor_msgs/test/main.cpp
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sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/JoyFeedback.h
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sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/JoyFeedbackArray.h
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sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o: /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
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||||
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||||
|
|
|
|||
|
|
@ -6,5 +6,5 @@ CXX_FLAGS = -fPIE -std=gnu++17
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|
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# Install script for directory: /home/duongtd/robotics_core/sensor_msgs
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# Install script for directory: /home/duongtd/robotics_core/std_msgs
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|||
|
|
@ -3,265 +3,164 @@
|
|||
#define COSTMAP_2D_INFLATION_LAYER_H_
|
||||
|
||||
// #include <ros/ros.h>
|
||||
// #include <costmap_2d/layer.h>
|
||||
// #include <costmap_2d/layered_costmap.h>
|
||||
#include <costmap_2d/layer.h>
|
||||
#include <costmap_2d/layered_costmap.h>
|
||||
// #include <costmap_2d/InflationPluginConfig.h>
|
||||
// #include <dynamic_reconfigure/server.h>
|
||||
// #include <boost/thread.hpp>
|
||||
#include <boost/thread.hpp>
|
||||
#include <boost/dll/alias.hpp>
|
||||
|
||||
// namespace costmap_2d
|
||||
// {
|
||||
// /**
|
||||
// * @class CellData
|
||||
// * @brief Storage for cell information used during obstacle inflation
|
||||
// */
|
||||
// class CellData
|
||||
// {
|
||||
// public:
|
||||
// /**
|
||||
// * @brief Constructor for a CellData objects
|
||||
// * @param i The index of the cell in the cost map
|
||||
// * @param x The x coordinate of the cell in the cost map
|
||||
// * @param y The y coordinate of the cell in the cost map
|
||||
// * @param sx The x coordinate of the closest obstacle cell in the costmap
|
||||
// * @param sy The y coordinate of the closest obstacle cell in the costmap
|
||||
// * @return
|
||||
// */
|
||||
// CellData(double i, unsigned int x, unsigned int y, unsigned int sx, unsigned int sy) :
|
||||
// index_(i), x_(x), y_(y), src_x_(sx), src_y_(sy)
|
||||
// {
|
||||
// }
|
||||
// unsigned int index_;
|
||||
// unsigned int x_, y_;
|
||||
// unsigned int src_x_, src_y_;
|
||||
// };
|
||||
|
||||
// class InflationLayer : public Layer
|
||||
// {
|
||||
// public:
|
||||
// InflationLayer();
|
||||
namespace costmap_2d
|
||||
{
|
||||
/**
|
||||
* @class CellData
|
||||
* @brief Storage for cell information used during obstacle inflation
|
||||
*/
|
||||
class CellData
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @brief Constructor for a CellData objects
|
||||
* @param i The index of the cell in the cost map
|
||||
* @param x The x coordinate of the cell in the cost map
|
||||
* @param y The y coordinate of the cell in the cost map
|
||||
* @param sx The x coordinate of the closest obstacle cell in the costmap
|
||||
* @param sy The y coordinate of the closest obstacle cell in the costmap
|
||||
* @return
|
||||
*/
|
||||
CellData(double i, unsigned int x, unsigned int y, unsigned int sx, unsigned int sy) :
|
||||
index_(i), x_(x), y_(y), src_x_(sx), src_y_(sy)
|
||||
{
|
||||
}
|
||||
unsigned int index_;
|
||||
unsigned int x_, y_;
|
||||
unsigned int src_x_, src_y_;
|
||||
};
|
||||
|
||||
// virtual ~InflationLayer()
|
||||
// {
|
||||
// deleteKernels();
|
||||
class InflationLayer : public Layer
|
||||
{
|
||||
public:
|
||||
InflationLayer();
|
||||
|
||||
virtual ~InflationLayer()
|
||||
{
|
||||
deleteKernels();
|
||||
// if (dsrv_)
|
||||
// delete dsrv_;
|
||||
// if (seen_)
|
||||
// delete[] seen_;
|
||||
// }
|
||||
if (seen_)
|
||||
delete[] seen_;
|
||||
}
|
||||
|
||||
// virtual void onInitialize();
|
||||
// virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
|
||||
// double* max_x, double* max_y);
|
||||
// virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
|
||||
// virtual bool isDiscretized()
|
||||
// {
|
||||
// return true;
|
||||
// }
|
||||
// virtual void matchSize();
|
||||
virtual void onInitialize();
|
||||
virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
|
||||
double* max_x, double* max_y);
|
||||
virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
|
||||
virtual bool isDiscretized()
|
||||
{
|
||||
return true;
|
||||
}
|
||||
virtual void matchSize();
|
||||
|
||||
// virtual void reset() { onInitialize(); }
|
||||
virtual void reset() { onInitialize(); }
|
||||
|
||||
// /** @brief Given a distance, compute a cost.
|
||||
// * @param distance The distance from an obstacle in cells
|
||||
// * @return A cost value for the distance */
|
||||
// virtual inline unsigned char computeCost(double distance) const
|
||||
// {
|
||||
// unsigned char cost = 0;
|
||||
// if (distance == 0)
|
||||
// cost = LETHAL_OBSTACLE;
|
||||
// else if (distance * resolution_ <= inscribed_radius_)
|
||||
// cost = INSCRIBED_INFLATED_OBSTACLE;
|
||||
// else
|
||||
// {
|
||||
// // make sure cost falls off by Euclidean distance
|
||||
// double euclidean_distance = distance * resolution_;
|
||||
// double factor = exp(-1.0 * weight_ * (euclidean_distance - inscribed_radius_));
|
||||
// cost = (unsigned char)((INSCRIBED_INFLATED_OBSTACLE - 1) * factor);
|
||||
// }
|
||||
// return cost;
|
||||
// }
|
||||
/** @brief Given a distance, compute a cost.
|
||||
* @param distance The distance from an obstacle in cells
|
||||
* @return A cost value for the distance */
|
||||
virtual inline unsigned char computeCost(double distance) const
|
||||
{
|
||||
unsigned char cost = 0;
|
||||
if (distance == 0)
|
||||
cost = LETHAL_OBSTACLE;
|
||||
else if (distance * resolution_ <= inscribed_radius_)
|
||||
cost = INSCRIBED_INFLATED_OBSTACLE;
|
||||
else
|
||||
{
|
||||
// make sure cost falls off by Euclidean distance
|
||||
double euclidean_distance = distance * resolution_;
|
||||
double factor = exp(-1.0 * weight_ * (euclidean_distance - inscribed_radius_));
|
||||
cost = (unsigned char)((INSCRIBED_INFLATED_OBSTACLE - 1) * factor);
|
||||
}
|
||||
return cost;
|
||||
}
|
||||
|
||||
// /**
|
||||
// * @brief Change the values of the inflation radius parameters
|
||||
// * @param inflation_radius The new inflation radius
|
||||
// * @param cost_scaling_factor The new weight
|
||||
// */
|
||||
// void setInflationParameters(double inflation_radius, double cost_scaling_factor);
|
||||
/**
|
||||
* @brief Change the values of the inflation radius parameters
|
||||
* @param inflation_radius The new inflation radius
|
||||
* @param cost_scaling_factor The new weight
|
||||
*/
|
||||
void setInflationParameters(double inflation_radius, double cost_scaling_factor);
|
||||
|
||||
// protected:
|
||||
// virtual void onFootprintChanged();
|
||||
// boost::recursive_mutex* inflation_access_;
|
||||
protected:
|
||||
virtual void onFootprintChanged();
|
||||
boost::recursive_mutex* inflation_access_;
|
||||
|
||||
// double resolution_;
|
||||
// double inflation_radius_;
|
||||
// double inscribed_radius_;
|
||||
// double weight_;
|
||||
// bool inflate_unknown_;
|
||||
double resolution_;
|
||||
double inflation_radius_;
|
||||
double inscribed_radius_;
|
||||
double weight_;
|
||||
bool inflate_unknown_;
|
||||
|
||||
// private:
|
||||
// /**
|
||||
// * @brief Lookup pre-computed distances
|
||||
// * @param mx The x coordinate of the current cell
|
||||
// * @param my The y coordinate of the current cell
|
||||
// * @param src_x The x coordinate of the source cell
|
||||
// * @param src_y The y coordinate of the source cell
|
||||
// * @return
|
||||
// */
|
||||
// inline double distanceLookup(int mx, int my, int src_x, int src_y)
|
||||
// {
|
||||
// unsigned int dx = abs(mx - src_x);
|
||||
// unsigned int dy = abs(my - src_y);
|
||||
// return cached_distances_[dx][dy];
|
||||
// }
|
||||
private:
|
||||
/**
|
||||
* @brief Lookup pre-computed distances
|
||||
* @param mx The x coordinate of the current cell
|
||||
* @param my The y coordinate of the current cell
|
||||
* @param src_x The x coordinate of the source cell
|
||||
* @param src_y The y coordinate of the source cell
|
||||
* @return
|
||||
*/
|
||||
inline double distanceLookup(int mx, int my, int src_x, int src_y)
|
||||
{
|
||||
unsigned int dx = abs(mx - src_x);
|
||||
unsigned int dy = abs(my - src_y);
|
||||
return cached_distances_[dx][dy];
|
||||
}
|
||||
|
||||
// /**
|
||||
// * @brief Lookup pre-computed costs
|
||||
// * @param mx The x coordinate of the current cell
|
||||
// * @param my The y coordinate of the current cell
|
||||
// * @param src_x The x coordinate of the source cell
|
||||
// * @param src_y The y coordinate of the source cell
|
||||
// * @return
|
||||
// */
|
||||
// inline unsigned char costLookup(int mx, int my, int src_x, int src_y)
|
||||
// {
|
||||
// unsigned int dx = abs(mx - src_x);
|
||||
// unsigned int dy = abs(my - src_y);
|
||||
// return cached_costs_[dx][dy];
|
||||
// }
|
||||
/**
|
||||
* @brief Lookup pre-computed costs
|
||||
* @param mx The x coordinate of the current cell
|
||||
* @param my The y coordinate of the current cell
|
||||
* @param src_x The x coordinate of the source cell
|
||||
* @param src_y The y coordinate of the source cell
|
||||
* @return
|
||||
*/
|
||||
inline unsigned char costLookup(int mx, int my, int src_x, int src_y)
|
||||
{
|
||||
unsigned int dx = abs(mx - src_x);
|
||||
unsigned int dy = abs(my - src_y);
|
||||
return cached_costs_[dx][dy];
|
||||
}
|
||||
|
||||
// void computeCaches();
|
||||
// void deleteKernels();
|
||||
// void inflate_area(int min_i, int min_j, int max_i, int max_j, unsigned char* master_grid);
|
||||
void computeCaches();
|
||||
void deleteKernels();
|
||||
void inflate_area(int min_i, int min_j, int max_i, int max_j, unsigned char* master_grid);
|
||||
|
||||
// unsigned int cellDistance(double world_dist)
|
||||
// {
|
||||
// return layered_costmap_->getCostmap()->cellDistance(world_dist);
|
||||
// }
|
||||
unsigned int cellDistance(double world_dist)
|
||||
{
|
||||
return layered_costmap_->getCostmap()->cellDistance(world_dist);
|
||||
}
|
||||
|
||||
// inline void enqueue(unsigned int index, unsigned int mx, unsigned int my,
|
||||
// unsigned int src_x, unsigned int src_y);
|
||||
inline void enqueue(unsigned int index, unsigned int mx, unsigned int my,
|
||||
unsigned int src_x, unsigned int src_y);
|
||||
|
||||
// unsigned int cell_inflation_radius_;
|
||||
// unsigned int cached_cell_inflation_radius_;
|
||||
// std::map<double, std::vector<CellData> > inflation_cells_;
|
||||
unsigned int cell_inflation_radius_;
|
||||
unsigned int cached_cell_inflation_radius_;
|
||||
std::map<double, std::vector<CellData> > inflation_cells_;
|
||||
|
||||
// bool* seen_;
|
||||
// int seen_size_;
|
||||
bool* seen_;
|
||||
int seen_size_;
|
||||
|
||||
// unsigned char** cached_costs_;
|
||||
// double** cached_distances_;
|
||||
// double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
|
||||
unsigned char** cached_costs_;
|
||||
double** cached_distances_;
|
||||
double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
|
||||
|
||||
// dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig> *dsrv_;
|
||||
// void reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level);
|
||||
|
||||
// bool need_reinflation_; ///< Indicates that the entire costmap should be reinflated next time around.
|
||||
// };
|
||||
bool need_reinflation_; ///< Indicates that the entire costmap should be reinflated next time around.
|
||||
};
|
||||
|
||||
// } // namespace costmap_2d
|
||||
|
||||
// #endif // COSTMAP_2D_INFLATION_LAYER_H_
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
// /////////////////////////////////////////
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
// #ifndef INFLATION_LAYER_H_
|
||||
// #define INFLATION_LAYER_H_
|
||||
|
||||
// #include "share.h"
|
||||
// #include <cmath>
|
||||
// #include <map>
|
||||
// #include <vector>
|
||||
// #include <boost/thread/recursive_mutex.hpp>
|
||||
|
||||
// /**
|
||||
// * @brief Lưu thông tin 1 cell khi thực hiện inflation
|
||||
// */
|
||||
// class CellData
|
||||
// {
|
||||
// public:
|
||||
// CellData(double i, unsigned int x, unsigned int y, unsigned int sx, unsigned int sy)
|
||||
// : index_(i), x_(x), y_(y), src_x_(sx), src_y_(sy) {}
|
||||
|
||||
// unsigned int index_;
|
||||
// unsigned int x_, y_;
|
||||
// unsigned int src_x_, src_y_;
|
||||
// };
|
||||
|
||||
// /**
|
||||
// * @brief Lớp thực hiện "inflation" cho costmap (mở rộng vùng vật cản)
|
||||
// */
|
||||
// class InflationLayer : public Layer
|
||||
// {
|
||||
// public:
|
||||
// InflationLayer();
|
||||
// virtual ~InflationLayer();
|
||||
|
||||
// virtual void onInitialize();
|
||||
// virtual void updateBounds(double robot_x, double robot_y, double robot_yaw,
|
||||
// double* min_x, double* min_y, double* max_x, double* max_y);
|
||||
// virtual void updateCosts(Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
|
||||
// virtual bool isDiscretized() { return true; }
|
||||
// virtual void matchSize();
|
||||
// virtual void reset() { onInitialize(); }
|
||||
|
||||
// void setInflationParameters(double inflation_radius, double cost_scaling_factor);
|
||||
|
||||
// protected:
|
||||
// virtual void onFootprintChanged();
|
||||
|
||||
// boost::recursive_mutex inflation_access_;
|
||||
|
||||
// double resolution_;
|
||||
// double inflation_radius_;
|
||||
// double inscribed_radius_;
|
||||
// double weight_;
|
||||
// bool inflate_unknown_;
|
||||
|
||||
// private:
|
||||
// inline double distanceLookup(int mx, int my, int src_x, int src_y);
|
||||
// inline unsigned char costLookup(int mx, int my, int src_x, int src_y);
|
||||
// inline unsigned char computeCost(double distance) const;
|
||||
|
||||
// void computeCaches();
|
||||
// void deleteKernels();
|
||||
// void inflate_area(int min_i, int min_j, int max_i, int max_j, unsigned char* master_grid);
|
||||
// inline void enqueue(unsigned int index, unsigned int mx, unsigned int my,
|
||||
// unsigned int src_x, unsigned int src_y);
|
||||
|
||||
// unsigned int cell_inflation_radius_;
|
||||
// unsigned int cached_cell_inflation_radius_;
|
||||
// std::map<double, std::vector<CellData>> inflation_cells_;
|
||||
|
||||
// bool* seen_;
|
||||
// int seen_size_;
|
||||
|
||||
// unsigned char** cached_costs_;
|
||||
// double** cached_distances_;
|
||||
// double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
|
||||
|
||||
// bool need_reinflation_;
|
||||
// };
|
||||
|
||||
#endif // INFLATION_LAYER_H_
|
||||
} // namespace costmap_2d
|
||||
|
||||
#endif // COSTMAP_2D_INFLATION_LAYER_H_
|
||||
|
|
|
|||
|
|
@ -40,7 +40,7 @@
|
|||
#include <costmap_2d/costmap_2d.h>
|
||||
#include <costmap_2d/layered_costmap.h>
|
||||
#include <string>
|
||||
#include "tf2/buffer_core.h"
|
||||
#include <tf2/buffer_core.h>
|
||||
|
||||
namespace costmap_2d
|
||||
{
|
||||
|
|
@ -146,6 +146,10 @@ private:
|
|||
std::vector<geometry_msgs::Point> footprint_spec_;
|
||||
};
|
||||
|
||||
|
||||
using PluginPtr = std::shared_ptr<Layer>;
|
||||
|
||||
|
||||
} // namespace costmap_2d
|
||||
|
||||
#endif // COSTMAP_2D_LAYER_H_
|
||||
|
|
|
|||
177
include/costmap_2d/obstacle_layer.h
Normal file
177
include/costmap_2d/obstacle_layer.h
Normal file
|
|
@ -0,0 +1,177 @@
|
|||
/*********************************************************************
|
||||
*
|
||||
* Software License Agreement (BSD License)
|
||||
*
|
||||
* Copyright (c) 2008, 2013, Willow Garage, Inc.
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above
|
||||
* copyright notice, this list of conditions and the following
|
||||
* disclaimer in the documentation and/or other materials provided
|
||||
* with the distribution.
|
||||
* * Neither the name of Willow Garage, Inc. nor the names of its
|
||||
* contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
* Author: Eitan Marder-Eppstein
|
||||
* David V. Lu!!
|
||||
*********************************************************************/
|
||||
#ifndef COSTMAP_2D_OBSTACLE_LAYER_H_
|
||||
#define COSTMAP_2D_OBSTACLE_LAYER_H_
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <costmap_2d/costmap_layer.h>
|
||||
#include <costmap_2d/layered_costmap.h>
|
||||
#include <costmap_2d/observation_buffer.h>
|
||||
|
||||
#include <nav_msgs/OccupancyGrid.h>
|
||||
|
||||
#include <sensor_msgs/LaserScan.h>
|
||||
#include <laser_geometry/laser_geometry.h>
|
||||
#include <sensor_msgs/PointCloud.h>
|
||||
#include <sensor_msgs/PointCloud2.h>
|
||||
#include <sensor_msgs/point_cloud_conversion.h>
|
||||
#include <tf2_ros/message_filter.h>
|
||||
#include <message_filters/subscriber.h>
|
||||
#include <dynamic_reconfigure/server.h>
|
||||
#include <costmap_2d/ObstaclePluginConfig.h>
|
||||
#include <costmap_2d/footprint.h>
|
||||
|
||||
namespace costmap_2d
|
||||
{
|
||||
|
||||
class ObstacleLayer : public CostmapLayer
|
||||
{
|
||||
public:
|
||||
ObstacleLayer()
|
||||
{
|
||||
costmap_ = NULL; // this is the unsigned char* member of parent class Costmap2D.
|
||||
}
|
||||
|
||||
virtual ~ObstacleLayer();
|
||||
virtual void onInitialize();
|
||||
virtual void updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
|
||||
double* max_x, double* max_y);
|
||||
virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
|
||||
|
||||
virtual void activate();
|
||||
virtual void deactivate();
|
||||
virtual void reset();
|
||||
|
||||
/**
|
||||
* @brief A callback to handle buffering LaserScan messages
|
||||
* @param message The message returned from a message notifier
|
||||
* @param buffer A pointer to the observation buffer to update
|
||||
*/
|
||||
void laserScanCallback(const sensor_msgs::LaserScanConstPtr& message,
|
||||
const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
|
||||
|
||||
/**
|
||||
* @brief A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max.
|
||||
* @param message The message returned from a message notifier
|
||||
* @param buffer A pointer to the observation buffer to update
|
||||
*/
|
||||
void laserScanValidInfCallback(const sensor_msgs::LaserScanConstPtr& message,
|
||||
const boost::shared_ptr<ObservationBuffer>& buffer);
|
||||
|
||||
/**
|
||||
* @brief A callback to handle buffering PointCloud messages
|
||||
* @param message The message returned from a message notifier
|
||||
* @param buffer A pointer to the observation buffer to update
|
||||
*/
|
||||
void pointCloudCallback(const sensor_msgs::PointCloudConstPtr& message,
|
||||
const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
|
||||
|
||||
/**
|
||||
* @brief A callback to handle buffering PointCloud2 messages
|
||||
* @param message The message returned from a message notifier
|
||||
* @param buffer A pointer to the observation buffer to update
|
||||
*/
|
||||
void pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& message,
|
||||
const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
|
||||
|
||||
// for testing purposes
|
||||
void addStaticObservation(costmap_2d::Observation& obs, bool marking, bool clearing);
|
||||
void clearStaticObservations(bool marking, bool clearing);
|
||||
|
||||
protected:
|
||||
virtual void setupDynamicReconfigure(ros::NodeHandle& nh);
|
||||
|
||||
/**
|
||||
* @brief Get the observations used to mark space
|
||||
* @param marking_observations A reference to a vector that will be populated with the observations
|
||||
* @return True if all the observation buffers are current, false otherwise
|
||||
*/
|
||||
bool getMarkingObservations(std::vector<costmap_2d::Observation>& marking_observations) const;
|
||||
|
||||
/**
|
||||
* @brief Get the observations used to clear space
|
||||
* @param clearing_observations A reference to a vector that will be populated with the observations
|
||||
* @return True if all the observation buffers are current, false otherwise
|
||||
*/
|
||||
bool getClearingObservations(std::vector<costmap_2d::Observation>& clearing_observations) const;
|
||||
|
||||
/**
|
||||
* @brief Clear freespace based on one observation
|
||||
* @param clearing_observation The observation used to raytrace
|
||||
* @param min_x
|
||||
* @param min_y
|
||||
* @param max_x
|
||||
* @param max_y
|
||||
*/
|
||||
virtual void raytraceFreespace(const costmap_2d::Observation& clearing_observation, double* min_x, double* min_y,
|
||||
double* max_x, double* max_y);
|
||||
|
||||
void updateRaytraceBounds(double ox, double oy, double wx, double wy, double range, double* min_x, double* min_y,
|
||||
double* max_x, double* max_y);
|
||||
|
||||
std::vector<geometry_msgs::Point> transformed_footprint_;
|
||||
bool footprint_clearing_enabled_;
|
||||
void updateFootprint(double robot_x, double robot_y, double robot_yaw, double* min_x, double* min_y,
|
||||
double* max_x, double* max_y);
|
||||
|
||||
std::string global_frame_; ///< @brief The global frame for the costmap
|
||||
double max_obstacle_height_; ///< @brief Max Obstacle Height
|
||||
|
||||
laser_geometry::LaserProjection projector_; ///< @brief Used to project laser scans into point clouds
|
||||
|
||||
std::vector<boost::shared_ptr<message_filters::SubscriberBase> > observation_subscribers_; ///< @brief Used for the observation message filters
|
||||
std::vector<boost::shared_ptr<tf2_ros::MessageFilterBase> > observation_notifiers_; ///< @brief Used to make sure that transforms are available for each sensor
|
||||
std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > observation_buffers_; ///< @brief Used to store observations from various sensors
|
||||
std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > marking_buffers_; ///< @brief Used to store observation buffers used for marking obstacles
|
||||
std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > clearing_buffers_; ///< @brief Used to store observation buffers used for clearing obstacles
|
||||
|
||||
// Used only for testing purposes
|
||||
std::vector<costmap_2d::Observation> static_clearing_observations_, static_marking_observations_;
|
||||
|
||||
bool rolling_window_;
|
||||
dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig> *dsrv_;
|
||||
|
||||
int combination_method_;
|
||||
|
||||
private:
|
||||
void reconfigureCB(costmap_2d::ObstaclePluginConfig &config, uint32_t level);
|
||||
};
|
||||
|
||||
} // namespace costmap_2d
|
||||
|
||||
#endif // COSTMAP_2D_OBSTACLE_LAYER_H_
|
||||
|
|
@ -1,37 +1,37 @@
|
|||
// #include <algorithm>
|
||||
// #include <costmap_2d/inflation_layer.h>
|
||||
// #include <costmap_2d/costmap_math.h>
|
||||
// #include <costmap_2d/footprint.h>
|
||||
// #include <boost/thread.hpp>
|
||||
#include <algorithm>
|
||||
#include <costmap_2d/inflation_layer.h>
|
||||
#include <costmap_2d/costmap_math.h>
|
||||
#include <costmap_2d/footprint.h>
|
||||
#include <boost/thread.hpp>
|
||||
|
||||
// PLUGINLIB_EXPORT_CLASS(costmap_2d::InflationLayer, costmap_2d::Layer)
|
||||
|
||||
// using costmap_2d::LETHAL_OBSTACLE;
|
||||
// using costmap_2d::INSCRIBED_INFLATED_OBSTACLE;
|
||||
// using costmap_2d::NO_INFORMATION;
|
||||
using costmap_2d::LETHAL_OBSTACLE;
|
||||
using costmap_2d::INSCRIBED_INFLATED_OBSTACLE;
|
||||
using costmap_2d::NO_INFORMATION;
|
||||
|
||||
// namespace costmap_2d
|
||||
// {
|
||||
namespace costmap_2d
|
||||
{
|
||||
|
||||
// InflationLayer::InflationLayer()
|
||||
// : resolution_(0)
|
||||
// , inflation_radius_(0)
|
||||
// , inscribed_radius_(0)
|
||||
// , weight_(0)
|
||||
// , inflate_unknown_(false)
|
||||
// , cell_inflation_radius_(0)
|
||||
// , cached_cell_inflation_radius_(0)
|
||||
InflationLayer::InflationLayer()
|
||||
: resolution_(0)
|
||||
, inflation_radius_(0)
|
||||
, inscribed_radius_(0)
|
||||
, weight_(0)
|
||||
, inflate_unknown_(false)
|
||||
, cell_inflation_radius_(0)
|
||||
, cached_cell_inflation_radius_(0)
|
||||
// , dsrv_(NULL)
|
||||
// , seen_(NULL)
|
||||
// , cached_costs_(NULL)
|
||||
// , cached_distances_(NULL)
|
||||
// , last_min_x_(-std::numeric_limits<float>::max())
|
||||
// , last_min_y_(-std::numeric_limits<float>::max())
|
||||
// , last_max_x_(std::numeric_limits<float>::max())
|
||||
// , last_max_y_(std::numeric_limits<float>::max())
|
||||
// {
|
||||
// inflation_access_ = new boost::recursive_mutex();
|
||||
// }
|
||||
, seen_(NULL)
|
||||
, cached_costs_(NULL)
|
||||
, cached_distances_(NULL)
|
||||
, last_min_x_(-std::numeric_limits<float>::max())
|
||||
, last_min_y_(-std::numeric_limits<float>::max())
|
||||
, last_max_x_(std::numeric_limits<float>::max())
|
||||
, last_max_y_(std::numeric_limits<float>::max())
|
||||
{
|
||||
inflation_access_ = new boost::recursive_mutex();
|
||||
}
|
||||
|
||||
// void InflationLayer::onInitialize()
|
||||
// {
|
||||
|
|
@ -344,4 +344,12 @@
|
|||
// }
|
||||
// }
|
||||
|
||||
// } // namespace costmap_2d
|
||||
// Export factory function
|
||||
static PluginPtr create_inflation_plugin() {
|
||||
return std::make_shared<InflationLayer>();
|
||||
}
|
||||
|
||||
// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
|
||||
BOOST_DLL_ALIAS(create_inflation_plugin, create_plugin)
|
||||
|
||||
} // namespace costmap_2d
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user