cl_move_base_z::CostmapSwitch Class Reference

#include <cp_costmap_switch.h>

Inheritance diagram for cl_move_base_z::CostmapSwitch:

Collaboration diagram for cl_move_base_z::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 ()
virtual 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 smacc::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_move_base_z::ClMoveBaseZ *	moveBaseClient_

Additional Inherited Members
Protected Member Functions inherited from smacc::ISmaccComponent
virtual void	initialize (ISmaccClient *owner)
void	setStateMachine (ISmaccStateMachine *stateMachine)
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)
virtual void	onInitialize ()
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)
Protected Attributes inherited from smacc::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Definition at line 24 of file cp_costmap_switch.h.

Member Enumeration Documentation

StandardLayers

enum class cl_move_base_z::CostmapSwitch::StandardLayers

strong

Enumerator
GLOBAL_OBSTACLES_LAYER
LOCAL_OBSTACLES_LAYER
GLOBAL_INFLATED_LAYER
LOCAL_INFLATED_LAYER

Definition at line 27 of file cp_costmap_switch.h.

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

Constructor & Destructor Documentation

CostmapSwitch()

cl_move_base_z::CostmapSwitch::CostmapSwitch

(

)

Definition at line 21 of file cp_costmap_switch.cpp.

{
}

Member Function Documentation

disable() [1/2]

void cl_move_base_z::CostmapSwitch::disable

(

StandardLayers

layerType

)

Definition at line 92 of file cp_costmap_switch.cpp.

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

References disable(), and getStandardCostmapName().

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disable() [2/2]

void cl_move_base_z::CostmapSwitch::disable

(

std::string

layerName

)

Definition at line 76 of file cp_costmap_switch.cpp.

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

References costmapProxies, and exists().

Referenced by disable().

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enable() [1/2]

void cl_move_base_z::CostmapSwitch::enable

(

StandardLayers

layerType

)

Definition at line 71 of file cp_costmap_switch.cpp.

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

References enable(), and getStandardCostmapName().

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enable() [2/2]

void cl_move_base_z::CostmapSwitch::enable

(

std::string

layerName

)

Definition at line 55 of file cp_costmap_switch.cpp.

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

References costmapProxies, and exists().

Referenced by enable().

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exists()

bool cl_move_base_z::CostmapSwitch::exists

(

std::string

layerName

)

Definition at line 45 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_move_base_z::CostmapSwitch::getStandardCostmapName ( StandardLayers  layertype )

static

Definition at line 40 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_move_base_z::CostmapSwitch::onInitialize ( )

overridevirtual

Reimplemented from smacc::ISmaccComponent.

Definition at line 25 of file cp_costmap_switch.cpp.

{
    this->moveBaseClient_ = dynamic_cast<cl_move_base_z::ClMoveBaseZ *>(owner_);
 
    if (this->moveBaseClient_ == nullptr)
    {
        ROS_ERROR("the owner of the CostmapSwitch must be a ClMoveBaseZ");
    }
 
    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 getStandardCostmapName(), GLOBAL_INFLATED_LAYER, GLOBAL_OBSTACLES_LAYER, LOCAL_INFLATED_LAYER, LOCAL_OBSTACLES_LAYER, moveBaseClient_, smacc::ISmaccComponent::owner_, and registerProxyFromDynamicReconfigureServer().

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registerProxyFromDynamicReconfigureServer()

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

Definition at line 14 of file cp_costmap_switch.cpp.

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

References costmapProxies, moveBaseClient_, and smacc::client_bases::SmaccActionClientBase< ActionType >::name_.

Referenced by onInitialize().

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Member Data Documentation

costmapProxies

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

private

Definition at line 56 of file cp_costmap_switch.h.

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

layerNames

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

static

Initial value:

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

Definition at line 35 of file cp_costmap_switch.h.

Referenced by getStandardCostmapName().

moveBaseClient_

cl_move_base_z::ClMoveBaseZ* cl_move_base_z::CostmapSwitch::moveBaseClient_

private

Definition at line 57 of file cp_costmap_switch.h.

Referenced by onInitialize(), and registerProxyFromDynamicReconfigureServer().

---

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

• smacc_client_library/move_base_z_client/move_base_z_client_plugin/include/move_base_z_client_plugin/components/costmap_switch/cp_costmap_switch.h
• smacc_client_library/move_base_z_client/move_base_z_client_plugin/src/components/costmap_switch/cp_costmap_switch.cpp