costmap_2d: footprint.h Source File

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00035  * Author: Eitan Marder-Eppstein
00036  *         David V. Lu!!
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00038 #ifndef COSTMAP_2D_FOOTPRINT_H
00039 #define COSTMAP_2D_FOOTPRINT_H
00040 
00041 #include <ros/ros.h>
00042 #include <geometry_msgs/Polygon.h>
00043 #include <geometry_msgs/PolygonStamped.h>
00044 #include <geometry_msgs/Point.h>
00045 #include <geometry_msgs/Point32.h>
00046 
00047 namespace costmap_2d
00048 {
00049 
00057 void calculateMinAndMaxDistances(const std::vector<geometry_msgs::Point>& footprint,
00058                                  double& min_dist, double& max_dist);
00059 
00063 geometry_msgs::Point              toPoint(geometry_msgs::Point32 pt);
00064 
00068 geometry_msgs::Point32            toPoint32(geometry_msgs::Point   pt);
00069 
00073 geometry_msgs::Polygon            toPolygon(std::vector<geometry_msgs::Point> pts);
00074 
00078 std::vector<geometry_msgs::Point> toPointVector(geometry_msgs::Polygon polygon);
00079 
00088 void transformFootprint(double x, double y, double theta, const std::vector<geometry_msgs::Point>& footprint_spec,
00089                         std::vector<geometry_msgs::Point>& oriented_footprint);
00090 
00099 void transformFootprint(double x, double y, double theta, const std::vector<geometry_msgs::Point>& footprint_spec,
00100                         geometry_msgs::PolygonStamped & oriented_footprint);
00101 
00105 void padFootprint(std::vector<geometry_msgs::Point>& footprint, double padding);
00106 
00110 std::vector<geometry_msgs::Point> makeFootprintFromRadius(double radius);
00111 
00118 bool makeFootprintFromString(const std::string& footprint_string, std::vector<geometry_msgs::Point>& footprint);
00119 
00124 std::vector<geometry_msgs::Point> makeFootprintFromParams(ros::NodeHandle& nh);
00125 
00137 std::vector<geometry_msgs::Point> makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& footprint_xmlrpc,
00138                                 const std::string& full_param_name);
00139 
00143 void writeFootprintToParam(ros::NodeHandle& nh, const std::vector<geometry_msgs::Point>& footprint);
00144 
00145 }  // end namespace costmap_2d
00146 
00147 #endif  // COSTMAP_2D_FOOTPRINT_H