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|This is x,y,theta lattice planning but with multiple levels in z. In other words, it is for doing collision checking in 3D (x,y,z). The z level is split into numofzlevs levels. If numofzlevs = 1, then it defaults to the original x,y,theta lattice planning defined in EnvironmentNAVXYTHETALAT. Otherwise, it uses numofzlevs footprints of the robot and corresponding costmaps. It assumes that they correspond to each other and are projections of the robot and corresponding z regions of the 3D map. More...|