ROS naviagtion analysis: costmap_2d--Costmap2D

BobLiao1987

于 2016-01-10 17:35:10 发布

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分类专栏： Mobile Robot 文章标签：地图导航

本文链接：https://blog.youkuaiyun.com/u013158492/article/details/50492506

版权

Costmap2D是ROS中存储地图数据的基础类，其核心数据成员costmap_存储实际的地图信息。本文详细介绍了Costmap2D的构造函数、地图坐标转换、边缘点获取、细胞赋值以及数据存储的过程，特别强调了在操作costmap_时的线程安全措施。Costmap2D主要用于为障碍物、膨胀、静态和体素图层提供基础。

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Call relation
UML
Costmap2D是存储地图数据的父类。真正的地图数据就存储在数据成员unsigned char *costmap_ 。
首先，分析类的构造函数:
默认构造函数：Costmap2D::Costmap2D() :

// just initialize everything to NULL by default
Costmap2D::Costmap2D() :
    size_x_(0), size_y_(0), resolution_(0.0), origin_x_(0.0), origin_y_(0.0), costmap_(NULL)
{
  access_ = new mutex_t();
}

带参数的构造函数：Costmap2D::Costmap2D(unsigned int cells_size_x, unsigned int cells_size_y, double resolution, double origin_x, double origin_y, unsigned char default_value)

Costmap2D::Costmap2D(unsigned int cells_size_x, unsigned int cells_size_y, double resolution,
                     double origin_x, double origin_y, unsigned char default_value) :
    size_x_(cells_size_x), size_y_(cells_size_y), resolution_(resolution), origin_x_(origin_x),
    origin_y_(origin_y), costmap_(NULL), default_value_(default_value)
{
  access_ = new mutex_t();

  // create the costmap
  initMaps(size_x_, size_y_);
  resetMaps();
}

Copy 构造函数：Costmap2D::Costmap2D(const Costmap2D& map)

Costmap2D::Costmap2D(const Costmap2D& map) :
    costmap_(NULL)
{
  access_ = new mutex_t();
  *this

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