base_local_planner::WorldModel Class Reference

An interface the trajectory controller uses to interact with the world regardless of the underlying world model. More...

Inheritance diagram for base_local_planner::WorldModel:

Public Member Functions
virtual double	footprintCost (const geometry_msgs::Point &position, const std::vector< geometry_msgs::Point > &footprint, double inscribed_radius, double circumscribed_radius)=0
	Subclass will implement this method to check a footprint at a given position and orientation for legality in the world.
virtual	~WorldModel ()
	Subclass will implement a destructor.
Protected Member Functions
	WorldModel ()

Detailed Description

An interface the trajectory controller uses to interact with the world regardless of the underlying world model.

Definition at line 51 of file world_model.h.

virtual base_local_planner::WorldModel::~WorldModel ( ) [inline, virtual]

Subclass will implement a destructor.

Definition at line 67 of file world_model.h.

base_local_planner::WorldModel::WorldModel ( ) [inline, protected]

Definition at line 70 of file world_model.h.

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

Subclass will implement this method to check a footprint at a given position and orientation for legality in the world.

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

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