Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory. More...
#include <obstacle_cost_function.h>
Public Member Functions | |
| ObstacleCostFunction (costmap_2d::Costmap2D *costmap) | |
| bool | prepare () |
| double | scoreTrajectory (Trajectory &traj) |
| void | setFootprint (std::vector< geometry_msgs::Point > footprint_spec) |
| void | setParams (double max_trans_vel, double max_scaling_factor, double scaling_speed) |
| void | setSumScores (bool score_sums) |
| ~ObstacleCostFunction () | |
Static Public Member Functions | |
| static double | footprintCost (const double &x, const double &y, const double &th, double scale, std::vector< geometry_msgs::Point > footprint_spec, costmap_2d::Costmap2D *costmap, base_local_planner::WorldModel *world_model) |
| static double | getScalingFactor (Trajectory &traj, double scaling_speed, double max_trans_vel, double max_scaling_factor) |
Private Attributes | |
| costmap_2d::Costmap2D * | costmap_ |
| std::vector< geometry_msgs::Point > | footprint_spec_ |
| double | max_scaling_factor_ |
| double | max_trans_vel_ |
| double | scaling_speed_ |
| bool | sum_scores_ |
| base_local_planner::WorldModel * | world_model_ |
Detailed Description
Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory.
class ObstacleCostFunction
Definition at line 53 of file obstacle_cost_function.h.
Constructor & Destructor Documentation
Definition at line 45 of file obstacle_cost_function.cpp.
Definition at line 52 of file obstacle_cost_function.cpp.
Member Function Documentation
| double base_local_planner::ObstacleCostFunction::footprintCost | ( | const double & | x, |
| const double & | y, | ||
| const double & | th, | ||
| double | scale, | ||
| std::vector< geometry_msgs::Point > | footprint_spec, | ||
| costmap_2d::Costmap2D * | costmap, | ||
| base_local_planner::WorldModel * | world_model | ||
| ) | [static] |
Definition at line 116 of file obstacle_cost_function.cpp.
| double base_local_planner::ObstacleCostFunction::getScalingFactor | ( | Trajectory & | traj, |
| double | scaling_speed, | ||
| double | max_trans_vel, | ||
| double | max_scaling_factor | ||
| ) | [static] |
Definition at line 102 of file obstacle_cost_function.cpp.
| bool base_local_planner::ObstacleCostFunction::prepare | ( | ) | [virtual] |
General updating of context values if required. Subclasses may overwrite. Return false in case there is any error.
Implements base_local_planner::TrajectoryCostFunction.
Definition at line 70 of file obstacle_cost_function.cpp.
| double base_local_planner::ObstacleCostFunction::scoreTrajectory | ( | Trajectory & | traj | ) | [virtual] |
return a score for trajectory traj
Implements base_local_planner::TrajectoryCostFunction.
Definition at line 74 of file obstacle_cost_function.cpp.
| void base_local_planner::ObstacleCostFunction::setFootprint | ( | std::vector< geometry_msgs::Point > | footprint_spec | ) |
Definition at line 66 of file obstacle_cost_function.cpp.
| void base_local_planner::ObstacleCostFunction::setParams | ( | double | max_trans_vel, |
| double | max_scaling_factor, | ||
| double | scaling_speed | ||
| ) |
Definition at line 59 of file obstacle_cost_function.cpp.
| void base_local_planner::ObstacleCostFunction::setSumScores | ( | bool | score_sums | ) | [inline] |
Definition at line 62 of file obstacle_cost_function.h.
Member Data Documentation
Definition at line 79 of file obstacle_cost_function.h.
std::vector<geometry_msgs::Point> base_local_planner::ObstacleCostFunction::footprint_spec_ [private] |
Definition at line 80 of file obstacle_cost_function.h.
double base_local_planner::ObstacleCostFunction::max_scaling_factor_ [private] |
Definition at line 85 of file obstacle_cost_function.h.
double base_local_planner::ObstacleCostFunction::max_trans_vel_ [private] |
Definition at line 82 of file obstacle_cost_function.h.
double base_local_planner::ObstacleCostFunction::scaling_speed_ [private] |
Definition at line 85 of file obstacle_cost_function.h.
bool base_local_planner::ObstacleCostFunction::sum_scores_ [private] |
Definition at line 83 of file obstacle_cost_function.h.
Definition at line 81 of file obstacle_cost_function.h.
The documentation for this class was generated from the following files: