An interface the trajectory controller uses to interact with the world regardless of the underlying world model. More...
#include <world_model.h>
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. | |
| double | footprintCost (double x, double y, double theta, const std::vector< geometry_msgs::Point > &footprint_spec, double inscribed_radius=0.0, double circumscribed_radius=0.0) |
| double | footprintCost (const geometry_msgs::Point &position, const std::vector< geometry_msgs::Point > &footprint, double inscribed_radius, double circumscribed_radius, double extra) |
| Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid. | |
| 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 52 of file world_model.h.
Constructor & Destructor Documentation
| virtual base_local_planner::WorldModel::~WorldModel | ( | ) | [inline, virtual] |
Subclass will implement a destructor.
Definition at line 104 of file world_model.h.
| base_local_planner::WorldModel::WorldModel | ( | ) | [inline, protected] |
Definition at line 107 of file world_model.h.
Member Function Documentation
| 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
Implemented in base_local_planner::PointGrid, base_local_planner::VoxelGridModel, and base_local_planner::CostmapModel.
| double base_local_planner::WorldModel::footprintCost | ( | double | x, |
| double | y, | ||
| double | theta, | ||
| const std::vector< geometry_msgs::Point > & | footprint_spec, | ||
| double | inscribed_radius = 0.0, |
||
| double | circumscribed_radius = 0.0 |
||
| ) | [inline] |
Definition at line 65 of file world_model.h.
| double base_local_planner::WorldModel::footprintCost | ( | const geometry_msgs::Point & | position, |
| const std::vector< geometry_msgs::Point > & | footprint, | ||
| double | inscribed_radius, | ||
| double | circumscribed_radius, | ||
| double | extra | ||
| ) | [inline] |
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
Definition at line 96 of file world_model.h.
The documentation for this class was generated from the following file: