DuongTD/costmap_2d
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

add function getTypeLayer

Browse Source
This commit is contained in:
duongtd 2025-12-31 10:11:12 +07:00
parent 6c682712fe
commit ae469e3271
11 changed files with 60 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
include/robot_costmap_2d/critical_layer.h
View File

@ -10,6 +10,10 @@ class CriticalLayer : public StaticLayer
public:
CriticalLayer();
virtual ~CriticalLayer();
LayerType getType() const override
{
return LayerType::CRITICAL_LAYER;
}
private:
unsigned char interpretValue(unsigned char value) override;
void updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) override;

5
include/robot_costmap_2d/directional_layer.h
View File

@ -13,7 +13,10 @@ namespace robot_costmap_2d
virtual ~DirectionalLayer();
bool laneFilter(const std::vector<robot_geometry_msgs::PoseStamped> plan);
void resetMap();
LayerType getType() const override
{
return LayerType::DIRECTIONAL_LAYER;
}
private:
void incomingMap(const robot_nav_msgs::OccupancyGrid &new_map);
bool laneFilter(std::vector<std::array<uint16_t, 2>> new_map, const robot_nav_msgs::Path path);

5
include/robot_costmap_2d/inflation_layer.h
View File

@ -67,6 +67,7 @@ public:
unsigned int index_;
unsigned int x_, y_;
unsigned int src_x_, src_y_;
};
class InflationLayer : public Layer
@ -120,6 +121,10 @@ public:
*/
void setInflationParameters(double inflation_radius, double cost_scaling_factor);
LayerType getType() const override
{
return LayerType::INFLATION_LAYER;
}
protected:
virtual void onFootprintChanged();
boost::recursive_mutex* inflation_access_;

19
include/robot_costmap_2d/layer.h
View File

@ -45,6 +45,21 @@
#include <robot/node_handle.h>
namespace robot_costmap_2d
{
enum class LayerType
{
UNKNOWN,
STATIC_LAYER,
OBSTACLE_LAYER,
INFLATION_LAYER,
CRITICAL_LAYER,
DIRECTIONAL_LAYER,
PREFERRED_LAYER,
UNPREFERRED_LAYER,
VOXEL_LAYER
};
class LayeredCostmap;
class Layer
@ -79,7 +94,7 @@ public:
virtual void reset() {}
virtual ~Layer() {}
virtual ~Layer() = default;
/**
* @brief Check to make sure all the data in the layer is up to date.
@ -130,6 +145,8 @@ public:
* notified of changes to the robot's footprint. */
virtual void onFootprintChanged() {}
virtual LayerType getType() const { return LayerType::UNKNOWN; }
template<typename T>
void dataCallBack(const T& value, const std::string& topic) {
handle(value, topic);

5
include/robot_costmap_2d/obstacle_layer.h
View File

@ -76,6 +76,11 @@ public:
void addStaticObservation(robot_costmap_2d::Observation& obs, bool marking, bool clearing);
void clearStaticObservations(bool marking, bool clearing);
LayerType getType() const override
{
return LayerType::OBSTACLE_LAYER;
}
protected:
void handleImpl(const void* data,
const std::type_info&,

4
include/robot_costmap_2d/preferred_layer.h
View File

@ -10,6 +10,10 @@ class PreferredLayer : public StaticLayer
public:
PreferredLayer();
virtual ~PreferredLayer();
LayerType getType() const override
{
return LayerType::PREFERRED_LAYER;
}
private:
unsigned char interpretValue(unsigned char value);
};

6
include/robot_costmap_2d/static_layer.h
View File

@ -63,6 +63,12 @@ public:
virtual void updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
virtual void matchSize();
LayerType getType() const override
{
return LayerType::STATIC_LAYER;
}
protected:
void handleImpl(const void* data,
const std::type_info& type,

5
include/robot_costmap_2d/unpreferred_layer.h
View File

@ -10,7 +10,10 @@ class UnPreferredLayer : public StaticLayer
public:
UnPreferredLayer();
virtual ~UnPreferredLayer();
LayerType getType() const override
{
return LayerType::UNPREFERRED_LAYER;
}
private:
unsigned char interpretValue(unsigned char value);

5
include/robot_costmap_2d/voxel_layer.h
View File

@ -76,7 +76,10 @@ public:
}
virtual void matchSize();
virtual void reset();
LayerType getType() const override
{
return LayerType::VOXEL_LAYER;
}
protected:

2
plugins/static_layer.cpp
View File

@ -347,7 +347,7 @@ void StaticLayer::updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_
tf3::TransformStampedMsg transformMsg;
try
{
transformMsg = tf_->lookupTransform(map_frame_, global_frame_, tf3::Time::now());
transformMsg = tf_->lookupTransform(map_frame_, global_frame_, tf3::Time());
}
catch (tf3::TransformException ex)
{

10
src/observation_buffer.cpp
View File

@ -66,7 +66,7 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
std::string tf_error;
robot_geometry_msgs::TransformStamped transformStamped;
if (!tf3_buffer_.canTransform(new_global_frame, global_frame_, transform_time, &tf_error))
if (!tf3_buffer_.canTransform(new_global_frame, global_frame_, tf3::Time(), &tf_error))
{
printf("Transform between %s and %s with tolerance %.2f failed: %s.\n", new_global_frame.c_str(),
global_frame_.c_str(), tf_tolerance_, tf_error.c_str());
@ -90,7 +90,7 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
tf3::TransformStampedMsg tfm_1 = tf3_buffer_.lookupTransform(
new_global_frame, // frame đích
origin.header.frame_id, // frame nguồn
transform_time
tf3::Time()
);
tf3::doTransform(origin, origin, tfm_1);
obs.origin_ = origin.point;
@ -100,7 +100,7 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
tf3::TransformStampedMsg tfm_2 = tf3_buffer_.lookupTransform(
new_global_frame, // frame đích
obs.cloud_->header.frame_id, // frame nguồn
transform_time
tf3::Time()
);
tf3::doTransform(*(obs.cloud_), *(obs.cloud_), tfm_2);
}
@ -140,7 +140,7 @@ void ObservationBuffer::bufferCloud(const robot_sensor_msgs::PointCloud2& cloud)
tf3::TransformStampedMsg tfm_1 = tf3_buffer_.lookupTransform(
global_frame_, // frame đích
local_origin.header.frame_id, // frame nguồn
data_convert::convertTime(local_origin.header.stamp)
tf3::Time()
);
tf3::doTransform(local_origin, global_origin, tfm_1);
@ -161,7 +161,7 @@ void ObservationBuffer::bufferCloud(const robot_sensor_msgs::PointCloud2& cloud)
tf3::TransformStampedMsg tfm_2 = tf3_buffer_.lookupTransform(
global_frame_, // frame đích
cloud.header.frame_id, // frame nguồn
data_convert::convertTime(cloud.header.stamp)
tf3::Time()
);
tf3::doTransform(cloud, global_frame_cloud, tfm_2);
global_frame_cloud.header.stamp = cloud.header.stamp;