Public Member Functions | Protected Member Functions
base_local_planner::WorldModel Class Reference

An interface the trajectory controller uses to interact with the world regardless of the underlying world model. More...

#include <world_model.h>

Inheritance diagram for base_local_planner::WorldModel:
Inheritance graph
[legend]

List of all members.

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.

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:
positionThe position of the robot in world coordinates
footprintThe specification of the footprint of the robot in world coordinates
inscribed_radiusThe radius of the inscribed circle of the robot
circumscribed_radiusThe 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:
positionThe position of the robot in world coordinates
footprintThe specification of the footprint of the robot in world coordinates
inscribed_radiusThe radius of the inscribed circle of the robot
circumscribed_radiusThe 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:


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:30