#include <jsk_footstep_msgs/FootstepArray.h>
#include "jsk_footstep_planner/footstep_graph.h"
#include "jsk_footstep_planner/astar_solver.h"
#include "jsk_footstep_planner/footstep_astar_solver.h"
#include <time.h>
#include <boost/random.hpp>
#include <interactive_markers/tools.h>
#include <interactive_markers/interactive_marker_server.h>
#include <jsk_recognition_utils/pcl_conversion_util.h>
#include <jsk_rviz_plugins/OverlayText.h>
#include <boost/format.hpp>

Include dependency graph for footstep_planning_2d_perception_demo.cpp:

Functions
const Eigen::Vector3f	footstep_size (0.2, 0.1, 0.000001)

pcl::PointCloud< pcl::PointNormal >::Ptr	generateCloudFlat ()

pcl::PointCloud< pcl::PointNormal >::Ptr	generateCloudHills ()

pcl::PointCloud< pcl::PointNormal >::Ptr	generateCloudSlope ()

pcl::PointCloud< pcl::PointNormal >::Ptr	generateCloudStairs ()

int	main (int argc, char **argv)

void	plan (const Eigen::Affine3f &goal_center, FootstepGraph::Ptr graph, ros::Publisher &pub_path, ros::Publisher &pub_goal, Eigen::Vector3f footstep_size)

void	processFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)

void	profile (FootstepAStarSolver< FootstepGraph > &solver, FootstepGraph::Ptr graph)

const Eigen::Vector3f	resolution (0.05, 0.05, 0.08)

Variables
FootstepGraph::Ptr	graph

ros::Publisher	pub_close_list

ros::Publisher	pub_goal

ros::Publisher	pub_open_list

ros::Publisher	pub_path

ros::Publisher	pub_text

Function Documentation

◆ footstep_size()

const Eigen::Vector3f footstep_size	(	0.	2,
		0.	1,
		0.	000001
	)

◆ generateCloudFlat()

pcl::PointCloud<pcl::PointNormal>::Ptr generateCloudFlat ( )

Definition at line 177 of file footstep_planning_2d_perception_demo.cpp.

◆ generateCloudHills()

pcl::PointCloud<pcl::PointNormal>::Ptr generateCloudHills ( )

Definition at line 192 of file footstep_planning_2d_perception_demo.cpp.

◆ generateCloudSlope()

pcl::PointCloud<pcl::PointNormal>::Ptr generateCloudSlope ( )

Definition at line 155 of file footstep_planning_2d_perception_demo.cpp.

◆ generateCloudStairs()

pcl::PointCloud<pcl::PointNormal>::Ptr generateCloudStairs ( )

Definition at line 209 of file footstep_planning_2d_perception_demo.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 233 of file footstep_planning_2d_perception_demo.cpp.

◆ plan()

void plan	(	const Eigen::Affine3f &	goal_center,
		FootstepGraph::Ptr	graph,
		ros::Publisher &	pub_path,
		ros::Publisher &	pub_goal,
		Eigen::Vector3f	footstep_size
	)