#include <costmap_2d/costmap_math.h>
#include <boost/tokenizer.hpp>
#include <boost/foreach.hpp>
#include <boost/algorithm/string.hpp>
#include <costmap_2d/footprint.h>
#include <costmap_2d/array_parser.h>
#include <geometry_msgs/Point32.h>
Go to the source code of this file.
Namespaces | |
namespace | costmap_2d |
Functions | |
void | costmap_2d::calculateMinAndMaxDistances (const std::vector< geometry_msgs::Point > &footprint, double &min_dist, double &max_dist) |
Calculate the extreme distances for the footprint. | |
double | costmap_2d::getNumberFromXMLRPC (XmlRpc::XmlRpcValue &value, const std::string &full_param_name) |
std::vector< geometry_msgs::Point > | costmap_2d::makeFootprintFromParams (ros::NodeHandle &nh) |
Read the ros-params "footprint" and/or "robot_radius" from the given NodeHandle using searchParam() to go up the tree. | |
std::vector< geometry_msgs::Point > | costmap_2d::makeFootprintFromRadius (double radius) |
Create a circular footprint from a given radius. | |
bool | costmap_2d::makeFootprintFromString (const std::string &footprint_string, std::vector< geometry_msgs::Point > &footprint) |
Make the footprint from the given string. | |
std::vector< geometry_msgs::Point > | costmap_2d::makeFootprintFromXMLRPC (XmlRpc::XmlRpcValue &footprint_xmlrpc, const std::string &full_param_name) |
Create the footprint from the given XmlRpcValue. | |
void | costmap_2d::padFootprint (std::vector< geometry_msgs::Point > &footprint, double padding) |
Adds the specified amount of padding to the footprint (in place) | |
geometry_msgs::Point | costmap_2d::toPoint (geometry_msgs::Point32 pt) |
Convert Point32 to Point. | |
geometry_msgs::Point32 | costmap_2d::toPoint32 (geometry_msgs::Point pt) |
Convert Point to Point32. | |
std::vector< geometry_msgs::Point > | costmap_2d::toPointVector (geometry_msgs::Polygon polygon) |
Convert Polygon msg to vector of Points. | |
geometry_msgs::Polygon | costmap_2d::toPolygon (std::vector< geometry_msgs::Point > pts) |
Convert vector of Points to Polygon msg. | |
void | costmap_2d::transformFootprint (double x, double y, double theta, const std::vector< geometry_msgs::Point > &footprint_spec, std::vector< geometry_msgs::Point > &oriented_footprint) |
Given a pose and base footprint, build the oriented footprint of the robot (list of Points) | |
void | costmap_2d::transformFootprint (double x, double y, double theta, const std::vector< geometry_msgs::Point > &footprint_spec, geometry_msgs::PolygonStamped &oriented_footprint) |
Given a pose and base footprint, build the oriented footprint of the robot (PolygonStamped) | |
void | costmap_2d::writeFootprintToParam (ros::NodeHandle &nh, const std::vector< geometry_msgs::Point > &footprint) |
Write the current unpadded_footprint_ to the "footprint" parameter of the given NodeHandle so that dynamic_reconfigure will see the new value. |