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Home / Iop_v2ServiceSet / ReportCostMap2D

Message ReportCostMap2D

Message ID: D742h

Description:
This message is used to report the cost map data in accordance to the received QueryCostMap2D message.

ReportCostMap2D
CostMap2DRec
CostMap2DPoseVar
CostMap2DDataVar

Message Format
Field # Field Type Units Optional Interpretation
1 CostMap2DRec Record false
2 CostMap2DPoseVar Variant varies false
3 CostMap2DDataVar Variant varies false


CostMap2DRec
Field # Field Type Units Optional Interpretation
1 NumberOfRows Unsigned Short units one false Number of rows in the map data.
2 NumberOfColumns Unsigned Short units one false Number of columns in the map data.
3 MapWidth Scaled Integer
Integer Size: Unsigned Short
units meter false Total width of the cost map.

Real Lower Limit: 0.0
Real Upper Limit: 10000.0
4 MapHeight Scaled Integer
Integer Size: Unsigned Short
units meter false Total height of the cost map.

Real Lower Limit: 0.0
Real Upper Limit: 10000.0


CostMap2DPoseVar
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 CostMap2DGlobalPoseRec Record false
1 CostMap2DLocalPoseRec Record false


CostMap2DGlobalPoseRec
Field # Field Type Units Optional Interpretation
1 MapCenterLatitude Scaled Integer
Integer Size: Unsigned Integer
units degrees false Real Lower Limit: -90.0
Real Upper Limit: 90.0
2 MapCenterLongitude Scaled Integer
Integer Size: Unsigned Integer
units degrees false Real Lower Limit: -180.0
Real Upper Limit: 180.0
3 MapRotation Scaled Integer
Integer Size: Unsigned Short
units radians false Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793


CostMap2DLocalPoseRec
Field # Field Type Units Optional Interpretation
1 MapCenterX Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
2 MapCenterY Scaled Integer
Integer Size: Unsigned Integer
units meter false Real Lower Limit: -100000.0
Real Upper Limit: 100000.0
3 MapRotation Scaled Integer
Integer Size: Unsigned Short
units radians false Real Lower Limit: -3.141592653589793
Real Upper Limit: 3.141592653589793


CostMap2DDataVar
Type Enum Size: Unsigned Byte
Enum Value Name Type Units Optional Interpretation
0 CostDataList List false
1 CostAndConfidenceDataList List false
2 RunLengthEncodedDataList List false


CostDataList
Count Field: Unsigned Short
Field # Field Type Units Optional Interpretation
1 Cost Unsigned Byte units one false Value 0-254: A value of 0 indicates no cost (no restriction). A value of 254 means maximum cost (non-traversable or no-go zone). A value of 255 means the cost of the cell is known.


CostAndConfidenceDataList
Count Field: Unsigned Short
Field # Field Type Units Optional Interpretation
1 Cost Unsigned Byte units one false Value 0-254: A value of 0 indicates no cost (no restriction). A value of 254 means maximum cost (non-traversable or no-go zone). A value of 255 means the cost of the cell is known.
2 Confidence Scaled Integer
Integer Size: Unsigned Byte
units one false Confidence value associated with the cost of the cell. A value of 0 means there is no confidence in the specified cost (unknown cost). A value of 100 means the cost of the cell is known perfectly.

Real Lower Limit: 0.0
Real Upper Limit: 100.0


RunLengthEncodedDataList
Count Field: Unsigned Short
Field # Field Type Units Optional Interpretation
1 CostAndRunLength BitField
Integer Size: Unsigned Short
one false [0, 2] : CostSubField (range: 0 ... 7)
3: CertaintySubField
[4, 15] : NumberCellsSubField (range: 0 ... 4095)



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