| ||Navigation function class. Holds buffers for costmap, navfn map. Maps are pixel-based. Origin is upper left, x is right, y is down. More...|
| ||Provides a ROS wrapper for the navfn planner which runs a fast, interpolated navigation function on a costmap. More...|
|int ||create_nav_plan_astar (COSTTYPE *costmap, int nx, int ny, int *goal, int *start, float *plan, int nplan)|
|int ||create_nav_plan_astar (const COSTTYPE *costmap, int nx, int ny, int *goal, int *start, float *plan, int nplan)|
Navigation function call.
|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|
Returns length of plan if found, and fills an array with x,y interpolated positions at about 1/2 cell resolution; else returns 0.
Author(s): Kurt Konolige, Eitan Marder-Eppstein, firstname.lastname@example.org, Felix Marek
autogenerated on Thu Jun 6 2019 21:20:09