#include <cp_costmap_switch.hpp>

Inheritance diagram for cl_nav2z::CostmapSwitch:

Collaboration diagram for cl_nav2z::CostmapSwitch:

Public Types
enum class	StandardLayers { GLOBAL_OBSTACLES_LAYER = 0 , LOCAL_OBSTACLES_LAYER = 1 , GLOBAL_INFLATED_LAYER = 2 , LOCAL_INFLATED_LAYER = 3 }

Public Member Functions
	CostmapSwitch ()

void	onInitialize () override

bool	exists (std::string layerName)

void	enable (std::string layerName)

void	enable (StandardLayers layerType)

void	disable (std::string layerName)

void	disable (StandardLayers layerType)

void	registerProxyFromDynamicReconfigureServer (std::string costmapName, std::string enablePropertyName="enabled")

Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()

virtual	~ISmaccComponent ()

virtual std::string	getName () const

Static Public Member Functions
static std::string	getStandardCostmapName (StandardLayers layertype)

Static Public Attributes
static std::array< std::string, 4 >	layerNames

Private Attributes
std::map< std::string, std::shared_ptr< CostmapProxy > >	costmapProxies

cl_nav2z::ClNav2Z *	moveBaseClient_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
virtual void	onInitialize ()

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage)

template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)

rclcpp::Node::SharedPtr	getNode ()

rclcpp::Logger	getLogger ()

ISmaccStateMachine *	getStateMachine ()

Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_

ISmaccClient *	owner_

Detailed Description

Definition at line 41 of file cp_costmap_switch.hpp.

Member Enumeration Documentation

◆ StandardLayers

enum class cl_nav2z::CostmapSwitch::StandardLayers

strong

Enumerator
GLOBAL_OBSTACLES_LAYER
LOCAL_OBSTACLES_LAYER
GLOBAL_INFLATED_LAYER
LOCAL_INFLATED_LAYER

Definition at line 44 of file cp_costmap_switch.hpp.

  {
    GLOBAL_OBSTACLES_LAYER = 0,
    LOCAL_OBSTACLES_LAYER = 1,
    GLOBAL_INFLATED_LAYER = 2,
    LOCAL_INFLATED_LAYER = 3
  };

Constructor & Destructor Documentation

◆ CostmapSwitch()

cl_nav2z::CostmapSwitch::CostmapSwitch ( )

Definition at line 34 of file cp_costmap_switch.cpp.

34{}

Member Function Documentation

◆ disable() [1/2]

void cl_nav2z::CostmapSwitch::disable ( StandardLayers layerType )

Definition at line 111 of file cp_costmap_switch.cpp.

{
  this->disable(getStandardCostmapName(layerType));
}

References disable(), and getStandardCostmapName().

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◆ disable() [2/2]

void cl_nav2z::CostmapSwitch::disable ( std::string layerName )

Definition at line 93 of file cp_costmap_switch.cpp.

{
  RCLCPP_INFO(getLogger(), "[CostmapSwitch] disabling %s", layerName.c_str());
 
  if (!exists(layerName))
  {
    RCLCPP_ERROR(getLogger(), "[CostmapSwitch] costmap %s does not exist", layerName.c_str());
    return;
  }
  else
  {
    RCLCPP_INFO(
      getLogger(), "[CostmapSwitch] costmap %s found. Calling dynamic reconfigure server.",
      layerName.c_str());
    costmapProxies[layerName]->setCostmapEnabled(false);
  }
}

References costmapProxies, exists(), and smacc2::ISmaccComponent::getLogger().

Referenced by disable().

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◆ enable() [1/2]

void cl_nav2z::CostmapSwitch::enable ( StandardLayers layerType )

Definition at line 88 of file cp_costmap_switch.cpp.

{
  this->enable(getStandardCostmapName(layerType));
}

References enable(), and getStandardCostmapName().

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◆ enable() [2/2]

void cl_nav2z::CostmapSwitch::enable ( std::string layerName )

Definition at line 70 of file cp_costmap_switch.cpp.

{
  RCLCPP_INFO(getLogger(), "[CostmapSwitch] enabling %s", layerName.c_str());
 
  if (!exists(layerName))
  {
    RCLCPP_ERROR(getLogger(), "[CostmapSwitch] costmap %s does not exist", layerName.c_str());
    return;
  }
  else
  {
    RCLCPP_INFO(
      getLogger(), "[CostmapSwitch] costmap %s found. Calling dynamic reconfigure server.",
      layerName.c_str());
    costmapProxies[layerName]->setCostmapEnabled(true);
  }
}

References costmapProxies, exists(), and smacc2::ISmaccComponent::getLogger().

Referenced by enable().

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◆ exists()

bool cl_nav2z::CostmapSwitch::exists ( std::string layerName )

Definition at line 60 of file cp_costmap_switch.cpp.

{
  if (!this->costmapProxies.count(layerName))
  {
    return false;
  }
 
  return true;
}

References costmapProxies.

Referenced by disable(), and enable().

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◆ getStandardCostmapName()

std::string cl_nav2z::CostmapSwitch::getStandardCostmapName ( StandardLayers layertype )

static

Definition at line 55 of file cp_costmap_switch.cpp.

{
  return CostmapSwitch::layerNames[(int)layertype];
}

References layerNames.

Referenced by disable(), enable(), and onInitialize().

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◆ onInitialize()

void cl_nav2z::CostmapSwitch::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 36 of file cp_costmap_switch.cpp.

{
  this->moveBaseClient_ = dynamic_cast<cl_nav2z::ClNav2Z *>(owner_);
 
  if (this->moveBaseClient_ == nullptr)
  {
    RCLCPP_ERROR(getLogger(), "the owner of the CostmapSwitch must be a ClNav2Z");
  }
 
  registerProxyFromDynamicReconfigureServer(
    getStandardCostmapName(StandardLayers::GLOBAL_OBSTACLES_LAYER));
  registerProxyFromDynamicReconfigureServer(
    getStandardCostmapName(StandardLayers::LOCAL_OBSTACLES_LAYER));
  registerProxyFromDynamicReconfigureServer(
    getStandardCostmapName(StandardLayers::GLOBAL_INFLATED_LAYER));
  registerProxyFromDynamicReconfigureServer(
    getStandardCostmapName(StandardLayers::LOCAL_INFLATED_LAYER));
}

References smacc2::ISmaccComponent::getLogger(), getStandardCostmapName(), GLOBAL_INFLATED_LAYER, GLOBAL_OBSTACLES_LAYER, LOCAL_INFLATED_LAYER, LOCAL_OBSTACLES_LAYER, moveBaseClient_, smacc2::ISmaccComponent::owner_, and registerProxyFromDynamicReconfigureServer().

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◆ registerProxyFromDynamicReconfigureServer()

void cl_nav2z::CostmapSwitch::registerProxyFromDynamicReconfigureServer	(	std::string	costmapName,
		std::string	enablePropertyName = `"enabled"`
	)

Definition at line 25 of file cp_costmap_switch.cpp.

{
  RCLCPP_INFO(getLogger(), "[CostmapSwitch] registering costmap type: %s", costmapName.c_str());
  auto proxy = std::make_shared<CostmapProxy>(
    this->moveBaseClient_->getName() + "/" + costmapName, enablePropertyName, getNode());
  costmapProxies[costmapName] = proxy;
}

References costmapProxies, smacc2::ISmaccComponent::getLogger(), smacc2::client_bases::ISmaccActionClient::getName(), smacc2::ISmaccComponent::getNode(), and moveBaseClient_.

Referenced by onInitialize().

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Member Data Documentation

◆ costmapProxies

std::map<std::string, std::shared_ptr<CostmapProxy> > cl_nav2z::CostmapSwitch::costmapProxies

private

Definition at line 74 of file cp_costmap_switch.hpp.

Referenced by disable(), enable(), exists(), and registerProxyFromDynamicReconfigureServer().

◆ layerNames

std::array< std::string, 4 > cl_nav2z::CostmapSwitch::layerNames

static

Initial value:

= {
  "global_costmap/obstacles_layer",
  "local_costmap/obstacles_layer"
  "global_costmap/inflater_layer",
  "local_costmap/inflater_layer"}

Definition at line 52 of file cp_costmap_switch.hpp.

Referenced by getStandardCostmapName().

◆ moveBaseClient_

cl_nav2z::ClNav2Z* cl_nav2z::CostmapSwitch::moveBaseClient_

private

Definition at line 75 of file cp_costmap_switch.hpp.

Referenced by onInitialize(), and registerProxyFromDynamicReconfigureServer().

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

smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/components/costmap_switch/cp_costmap_switch.hpp
smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/components/costmap_switch/cp_costmap_switch.cpp

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ StandardLayers

Constructor & Destructor Documentation

◆ CostmapSwitch()

Member Function Documentation

◆ disable() [1/2]

◆ disable() [2/2]

◆ enable() [1/2]

◆ enable() [2/2]

◆ exists()

◆ getStandardCostmapName()

◆ onInitialize()

◆ registerProxyFromDynamicReconfigureServer()

Member Data Documentation

◆ costmapProxies

◆ layerNames

◆ moveBaseClient_