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>
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
| iri_diff_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 iri_diff_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 iri_diff_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 iri_diff_local_planner::WorldModel.
| double iri_diff_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 iri_diff_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& iri_diff_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: