base_local_planner::CostmapModel Class Reference

A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using the costmap. More...

#include <costmap_model.h>

Inheritance diagram for base_local_planner::CostmapModel:

[legend]

List of all members.

Public Member Functions
	CostmapModel (const costmap_2d::Costmap2D &costmap)
	Constructor for the CostmapModel.
virtual double	footprintCost (const geometry_msgs::Point &position, const std::vector< geometry_msgs::Point > &footprint, double inscribed_radius, double circumscribed_radius)
	Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid.
virtual	~CostmapModel ()
	Destructor for the world model.
Private Member Functions
double	lineCost (int x0, int x1, int y0, int y1)
	Rasterizes a line in the costmap grid and checks for collisions.
double	pointCost (int x, int y)
	Checks the cost of a point in the costmap.
Private Attributes
const costmap_2d::Costmap2D &	costmap_
	Allows access of costmap obstacle information.

---

Detailed Description

A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using the costmap.

Definition at line 50 of file costmap_model.h.

---

Constructor & Destructor Documentation

base_local_planner::CostmapModel::CostmapModel

(

const costmap_2d::Costmap2D &

costmap

)

Constructor for the CostmapModel.

Parameters:

costmap

The costmap that should be used

Returns:

Definition at line 43 of file costmap_model.cpp.

virtual base_local_planner::CostmapModel::~CostmapModel

(

)

[inline, virtual]

Destructor for the world model.

Definition at line 62 of file costmap_model.h.

---

Member Function Documentation

virtual double base_local_planner::CostmapModel::footprintCost	(	const geometry_msgs::Point &	position,
		const std::vector< geometry_msgs::Point > &	footprint,
		double	inscribed_radius,
		double	circumscribed_radius
	)			[virtual]

Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid.

Parameters:

	position	The position of the robot in world coordinates
	footprint	The specification of the footprint of the robot in world coordinates
	inscribed_radius	The radius of the inscribed circle of the robot
	circumscribed_radius	The radius of the circumscribed circle of the robot

Returns:

Positive if all the points lie outside the footprint, negative otherwise

Implements base_local_planner::WorldModel.

double base_local_planner::CostmapModel::lineCost	(	int	x0,
		int	x1,
		int	y0,
		int	y1
	)			[private]

Rasterizes a line in the costmap grid and checks for collisions.

Parameters:

	x0	The x position of the first cell in grid coordinates
	y0	The y position of the first cell in grid coordinates
	x1	The x position of the second cell in grid coordinates
	y1	The y position of the second cell in grid coordinates

Returns:

A positive cost for a legal line... negative otherwise

Definition at line 107 of file costmap_model.cpp.

double base_local_planner::CostmapModel::pointCost	(	int	x,
		int	y
	)			[private]

Checks the cost of a point in the costmap.

Parameters:

	x	The x position of the point in cell coordinates
	y	The y position of the point in cell coordinates

Returns:

A positive cost for a legal point... negative otherwise

Definition at line 186 of file costmap_model.cpp.

---

Member Data Documentation

const costmap_2d::Costmap2D& base_local_planner::CostmapModel::costmap_ [private]

Allows access of costmap obstacle information.

Definition at line 94 of file costmap_model.h.

---

The documentation for this class was generated from the following files:

• costmap_model.h
• costmap_model.cpp