costmap_model.h

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* Author: Eitan Marder-Eppstein
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#ifndef TRAJECTORY_ROLLOUT_COSTMAP_MODEL_
#define TRAJECTORY_ROLLOUT_COSTMAP_MODEL_

#include <base_local_planner/world_model.h>
// For obstacle data access
#include <costmap_2d/costmap_2d.h>

namespace base_local_planner {
  class CostmapModel : public WorldModel {
    public:
      CostmapModel(const costmap_2d::Costmap2D& costmap);

      virtual ~CostmapModel(){}
      using WorldModel::footprintCost;

      virtual double footprintCost(const geometry_msgs::Point& position, const std::vector<geometry_msgs::Point>& footprint,
          double inscribed_radius, double circumscribed_radius);

    private:
      double lineCost(int x0, int x1, int y0, int y1);

      double pointCost(int x, int y);

      const costmap_2d::Costmap2D& costmap_; 

  };
};
#endif