navfn Namespace Reference

Namespaces
namespace	srv
Classes
struct	MakeNavPlan
struct	MakeNavPlanRequest_
struct	MakeNavPlanResponse_
class	NavFn
	Navigation function class. Holds buffers for costmap, navfn map. Maps are pixel-based. Origin is upper left, x is right, y is down. More...
class	NavfnROS
	Provides a ROS wrapper for the navfn planner which runs a fast, interpolated navigation function on a costmap. More...
class	NavfnWithLocalCostmap
class	NavWin
struct	PotarrPoint
struct	SetCostmap
struct	SetCostmapRequest_
struct	SetCostmapResponse_
Typedefs
typedef ::navfn::MakeNavPlanRequest_ < std::allocator< void > >	MakeNavPlanRequest
typedef boost::shared_ptr < ::navfn::MakeNavPlanRequest const >	MakeNavPlanRequestConstPtr
typedef boost::shared_ptr < ::navfn::MakeNavPlanRequest >	MakeNavPlanRequestPtr
typedef ::navfn::MakeNavPlanResponse_ < std::allocator< void > >	MakeNavPlanResponse
typedef boost::shared_ptr < ::navfn::MakeNavPlanResponse const >	MakeNavPlanResponseConstPtr
typedef boost::shared_ptr < ::navfn::MakeNavPlanResponse >	MakeNavPlanResponsePtr
typedef ::navfn::SetCostmapRequest_ < std::allocator< void > >	SetCostmapRequest
typedef boost::shared_ptr < ::navfn::SetCostmapRequest const >	SetCostmapRequestConstPtr
typedef boost::shared_ptr < ::navfn::SetCostmapRequest >	SetCostmapRequestPtr
typedef ::navfn::SetCostmapResponse_ < std::allocator< void > >	SetCostmapResponse
typedef boost::shared_ptr < ::navfn::SetCostmapResponse const >	SetCostmapResponseConstPtr
typedef boost::shared_ptr < ::navfn::SetCostmapResponse >	SetCostmapResponsePtr
Functions
int	create_nav_plan_astar (COSTTYPE *costmap, int nx, int ny, int *goal, int *start, float *plan, int nplan)
int	create_nav_plan_astar (const COSTTYPE *costmap, int nx, int ny, int *goal, int *start, float *plan, int nplan)

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Typedef Documentation

typedef ::navfn::MakeNavPlanRequest_<std::allocator<void> > navfn::MakeNavPlanRequest

Definition at line 151 of file MakeNavPlan.h.

typedef boost::shared_ptr< ::navfn::MakeNavPlanRequest const> navfn::MakeNavPlanRequestConstPtr

Definition at line 154 of file MakeNavPlan.h.

typedef boost::shared_ptr< ::navfn::MakeNavPlanRequest> navfn::MakeNavPlanRequestPtr

Definition at line 153 of file MakeNavPlan.h.

typedef ::navfn::MakeNavPlanResponse_<std::allocator<void> > navfn::MakeNavPlanResponse

Definition at line 302 of file MakeNavPlan.h.

typedef boost::shared_ptr< ::navfn::MakeNavPlanResponse const> navfn::MakeNavPlanResponseConstPtr

Definition at line 305 of file MakeNavPlan.h.

typedef boost::shared_ptr< ::navfn::MakeNavPlanResponse> navfn::MakeNavPlanResponsePtr

Definition at line 304 of file MakeNavPlan.h.

typedef ::navfn::SetCostmapRequest_<std::allocator<void> > navfn::SetCostmapRequest

Definition at line 115 of file SetCostmap.h.

typedef boost::shared_ptr< ::navfn::SetCostmapRequest const> navfn::SetCostmapRequestConstPtr

Definition at line 118 of file SetCostmap.h.

typedef boost::shared_ptr< ::navfn::SetCostmapRequest> navfn::SetCostmapRequestPtr

Definition at line 117 of file SetCostmap.h.

typedef ::navfn::SetCostmapResponse_<std::allocator<void> > navfn::SetCostmapResponse

Definition at line 185 of file SetCostmap.h.

typedef boost::shared_ptr< ::navfn::SetCostmapResponse const> navfn::SetCostmapResponseConstPtr

Definition at line 188 of file SetCostmap.h.

typedef boost::shared_ptr< ::navfn::SetCostmapResponse> navfn::SetCostmapResponsePtr

Definition at line 187 of file SetCostmap.h.

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Function Documentation

int navfn::create_nav_plan_astar	(	COSTTYPE *	costmap,
		int	nx,
		int	ny,
		int *	goal,
		int *	start,
		float *	plan,
		int	nplan
	)

Definition at line 58 of file navfn.cpp.

int navfn::create_nav_plan_astar	(	const COSTTYPE *	costmap,
		int	nx,
		int	ny,
		int *	goal,
		int *	start,
		float *	plan,
		int	nplan
	)

Navigation function call.

Parameters:

	costmap	Cost map array, of type COSTTYPE; origin is upper left NOTE: will be modified to have a border of obstacle costs
	nx	Width of map in cells
	ny	Height of map in cells
	goal	X,Y position of goal cell
	start	X,Y position of start cell

Returns length of plan if found, and fills an array with x,y interpolated positions at about 1/2 cell resolution; else returns 0.