<<PackageHeader(lj_costmap)>>
<<TOC(4)>>

== Overview ==

The `lj_costmap` package is a localizing jockey for the Large Maps Framework ([[Large Maps Framework|LaMa]]) that computes place dissimilarities based on a local cost map, such as those obtained from the [[local_map]] package.

The role of this jockey is to get the dissimilarity of the <<MsgLink(lama_msgs/PlaceProfile)>> descriptors of all vertices with the current place profile.
The action is done when the dissimilarities are computed.
Implemented actions:
  * `GET_VERTEX_DESCRIPTOR`: return the PlaceProfile and the computed Crossing
  * `GET_SIMILARITY`: return the dissimilarity based on PlaceProfile

== Usage ==

=== ROS API ===

==== Interaction with the map (created by this jockey) ====
|| [Getter][/][Setter] || message type || interface default name ||
|| Getter/Setter || <<MsgLink(lama_msgs/PlaceProfile)>> || jockey_name + "_place_profile" ||
|| Setter || <<MsgLink(lama_msgs/Crossing)>> || jockey_name + "_crossing" ||

{{{
#!clearsilver CS/NodeAPI
sub {
   0.name=~<name>/local_costmap
   0.type= nav_msgs/OccupancyGrid
   0.desc= local cost map which orientation is global, cf. [[local_map]].
}
srv {
  0.name= ~<name>/dissimilarity_server
  0.type= polygon_matcher/PolygonDissimilarity
  0.desc= used to compare all known places (as polygons) with the current place.
}
param {
  0.name= ~<name>/costmap_interface_name
  0.default= jockey_name + "_place_profile"
  0.type= String
  0.desc= Name of the map interface for place profiles.
  1.name= ~<name>/crossing_interface_name
  1.default= jockey_name + "_crossing"
  1.type= String
  1.desc= Name of the map interface for crossings.
  2.name= ~<name>/dissimilarity_server_name
  2.default= "dissimilarity_server"
  2.type= String
  2.desc= Name of the dissimilarity server.
}
}}}



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