Class StaticAgentLayer

• Defined in File static_agent_layer.h

Inheritance Relationships

Base Type

• public cohan_layers::AgentLayer (Class AgentLayer)

Class Documentation

class StaticAgentLayer : public cohan_layers::AgentLayer

Public Functions

inline StaticAgentLayer()

void onInitialize() override

Initializes the StaticAgentLayer and sets up ROS communication.

virtual void updateBoundsFromAgents(double *min_x, double *min_y, double *max_x, double *max_y) override

Updates the bounds of the costmap based on static agent positions.

Parameters:

• min_x – Minimum x-coordinate of the bounds

• min_y – Minimum y-coordinate of the bounds

• max_x – Maximum x-coordinate of the bounds

• max_y – Maximum y-coordinate of the bounds

virtual void updateCosts(costmap_2d::Costmap2D &master_grid, int min_i, int min_j, int max_i, int max_j) override

Updates the costmap with static agent information.

Parameters:

• master_grid – Reference to the master costmap grid

• min_i – Minimum i-index of the grid

• min_j – Minimum j-index of the grid

• max_i – Maximum i-index of the grid

• max_j – Maximum j-index of the grid

Protected Functions

void loadRosParamFromNodeHandle(const ros::NodeHandle &private_nh)

Loads ROS parameters from the node handle.

Parameters:

private_nh – Private node handle containing parameters

void configure(AgentStaticLayerConfig &config, uint32_t level)

Configures the StaticAgentLayer using dynamic reconfigure.

Parameters:

• config – Configuration parameters for the layer

• level – Reconfiguration level

Protected Attributes

dynamic_reconfigure::Server<AgentStaticLayerConfig> *server_

Dynamic reconfigure server for StaticAgentLayer.

dynamic_reconfigure::Server<AgentStaticLayerConfig>::CallbackType f_

Callback type for dynamic reconfigure server.