#include <map_grid_cost_function.h>
Public Member Functions | |
| double | getCellCosts (unsigned int cx, unsigned int cy) |
| MapGridCostFunction (costmap_2d::Costmap2D *costmap, double xshift=0.0, double yshift=0.0, bool is_local_goal_function=false, CostAggregationType aggregationType=Last) | |
| double | obstacleCosts () |
| bool | prepare () |
| double | scoreTrajectory (Trajectory &traj) |
| void | setStopOnFailure (bool stop_on_failure) |
| If true, failures along the path cause the entire path to be rejected. | |
| void | setTargetPoses (std::vector< geometry_msgs::PoseStamped > target_poses) |
| void | setXShift (double xshift) |
| void | setYShift (double yshift) |
| double | unreachableCellCosts () |
| ~MapGridCostFunction () | |
Private Attributes | |
| CostAggregationType | aggregationType_ |
| costmap_2d::Costmap2D * | costmap_ |
| bool | is_local_goal_function_ |
| base_local_planner::MapGrid | map_ |
| bool | stop_on_failure_ |
| std::vector < geometry_msgs::PoseStamped > | target_poses_ |
| double | xshift_ |
| xshift and yshift allow scoring for different | |
| double | yshift_ |
Detailed Description
This class provides cost based on a map_grid of a small area of the world. The map_grid covers a the costmap, the costmap containing the information about sensed obstacles. The map_grid is used by setting certain cells to distance 0, and then propagating distances around them, filling up the area reachable around them.
The approach using grid_maps is used for computational efficiency, allowing to score hundreds of trajectories very quickly.
This can be used to favor trajectories which stay on a given path, or which approach a given goal.
- Parameters:
-
costmap_ros Reference to object giving updates of obstacles around robot xshift where the scoring point is with respect to robot center pose yshift where the scoring point is with respect to robot center pose is_local_goal_function,scores for local goal rather than whole path aggregationType how to combine costs along trajectory
Definition at line 73 of file map_grid_cost_function.h.
Constructor & Destructor Documentation
| base_local_planner::MapGridCostFunction::MapGridCostFunction | ( | costmap_2d::Costmap2D * | costmap, |
| double | xshift = 0.0, |
||
| double | yshift = 0.0, |
||
| bool | is_local_goal_function = false, |
||
| CostAggregationType | aggregationType = Last |
||
| ) |
Definition at line 42 of file map_grid_cost_function.cpp.
Definition at line 81 of file map_grid_cost_function.h.
Member Function Documentation
| double base_local_planner::MapGridCostFunction::getCellCosts | ( | unsigned int | cx, |
| unsigned int | cy | ||
| ) |
Definition at line 70 of file map_grid_cost_function.cpp.
| double base_local_planner::MapGridCostFunction::obstacleCosts | ( | ) | [inline] |
return a value that indicates cell is in obstacle
Definition at line 106 of file map_grid_cost_function.h.
| bool base_local_planner::MapGridCostFunction::prepare | ( | ) | [virtual] |
propagate distances
Implements base_local_planner::TrajectoryCostFunction.
Definition at line 59 of file map_grid_cost_function.cpp.
| double base_local_planner::MapGridCostFunction::scoreTrajectory | ( | Trajectory & | traj | ) | [virtual] |
return a score for trajectory traj
Implements base_local_planner::TrajectoryCostFunction.
Definition at line 75 of file map_grid_cost_function.cpp.
| void base_local_planner::MapGridCostFunction::setStopOnFailure | ( | bool | stop_on_failure | ) | [inline] |
If true, failures along the path cause the entire path to be rejected.
Default is true.
Definition at line 94 of file map_grid_cost_function.h.
| void base_local_planner::MapGridCostFunction::setTargetPoses | ( | std::vector< geometry_msgs::PoseStamped > | target_poses | ) |
set line segments on the grid with distance 0, resets the grid
Definition at line 55 of file map_grid_cost_function.cpp.
| void base_local_planner::MapGridCostFunction::setXShift | ( | double | xshift | ) | [inline] |
Definition at line 88 of file map_grid_cost_function.h.
| void base_local_planner::MapGridCostFunction::setYShift | ( | double | yshift | ) | [inline] |
Definition at line 89 of file map_grid_cost_function.h.
| double base_local_planner::MapGridCostFunction::unreachableCellCosts | ( | ) | [inline] |
returns a value indicating cell was not reached by wavefront propagation of set cells. (is behind walls, regarding the region covered by grid)
Definition at line 114 of file map_grid_cost_function.h.
Member Data Documentation
Definition at line 126 of file map_grid_cost_function.h.
Definition at line 123 of file map_grid_cost_function.h.
Definition at line 134 of file map_grid_cost_function.h.
Definition at line 125 of file map_grid_cost_function.h.
bool base_local_planner::MapGridCostFunction::stop_on_failure_ [private] |
Definition at line 135 of file map_grid_cost_function.h.
std::vector<geometry_msgs::PoseStamped> base_local_planner::MapGridCostFunction::target_poses_ [private] |
Definition at line 122 of file map_grid_cost_function.h.
double base_local_planner::MapGridCostFunction::xshift_ [private] |
xshift and yshift allow scoring for different
Definition at line 131 of file map_grid_cost_function.h.
double base_local_planner::MapGridCostFunction::yshift_ [private] |
Definition at line 132 of file map_grid_cost_function.h.
The documentation for this class was generated from the following files: