Function which can compute costs for the inflation layer. More...
#include <inflation.hpp>
Inheritance diagram for cost_map::ROSInflationComputer:
Public Member Functions | |
| virtual unsigned char | operator() (const float &distance) const |
| Given a distance, compute a cost. | |
| ROSInflationComputer (const float &inscribed_radius, const float &weight) | |
| virtual | ~ROSInflationComputer () |
Private Attributes | |
| float | inscribed_radius_ |
| float | weight_ |
Detailed Description
Function which can compute costs for the inflation layer.
This class provides a default inflation function which works like the ROS inflation layer. Inherit from this to generate your own inflation functions.
Definition at line 55 of file inflation.hpp.
Constructor & Destructor Documentation
| cost_map::ROSInflationComputer::ROSInflationComputer | ( | const float & | inscribed_radius, |
| const float & | weight | ||
| ) |
Definition at line 153 of file inflation.cpp.
| virtual cost_map::ROSInflationComputer::~ROSInflationComputer | ( | ) | [inline, virtual] |
Definition at line 59 of file inflation.hpp.
Member Function Documentation
| unsigned char cost_map::ROSInflationComputer::operator() | ( | const float & | distance | ) | const [virtual] |
Given a distance, compute a cost.
- Parameters:
-
distance The metric distance from an obstacle (distance = cell_distance*resolution)
- Returns:
- A cost value for the distance
Implements cost_map::InflationComputer.
Definition at line 161 of file inflation.cpp.
Member Data Documentation
float cost_map::ROSInflationComputer::inscribed_radius_ [private] |
Definition at line 68 of file inflation.hpp.
float cost_map::ROSInflationComputer::weight_ [private] |
Definition at line 68 of file inflation.hpp.
The documentation for this class was generated from the following files: