Function nav2_navfn_planner::create_nav_plan_astar

Function Documentation

int nav2_navfn_planner::create_nav_plan_astar(const COSTTYPE *costmap, int nx, int ny, int *goal, int *start, float *plan, int nplan)

Navigation function call.

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

  • 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