twist_handler.h
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00001 #ifndef NJ_OA_COSTMAP_TWIST_HANDLER_H
00002 #define NJ_OA_COSTMAP_TWIST_HANDLER_H
00003 
00004 #include <cmath>
00005 #include <string>
00006 
00007 #include <geometry_msgs/Twist.h>
00008 #include <nav_msgs/OccupancyGrid.h>
00009 #include <sensor_msgs/LaserScan.h>
00010 #include <tf/transform_listener.h>
00011 
00012 #include <map_ray_caster/map_ray_caster.h>
00013 #include <nj_oa_laser/twist_handler.h>
00014 
00015 namespace nj_oa_costmap
00016 {
00017 
00018 class TwistHandler : public nj_oa_laser::TwistHandler
00019 {
00020   public :
00021     
00022     TwistHandler(const double robot_radius, const std::string& laser_frame);
00023 
00024     geometry_msgs::Twist getTwist(const nav_msgs::OccupancyGrid& map);
00025 
00026     std::string laser_frame;  
00027     unsigned int fake_laser_beam_count; 
00028     double range_max;  
00029 
00030   private:
00031 
00032     map_ray_caster::MapRayCaster ray_caster_; 
00033     tf::TransformListener tf_listerner_;
00034 };
00035 
00036 } // namespace nj_oa_costmap
00037 
00038 #endif // NJ_OA_COSTMAP_TWIST_HANDLER_H


nj_oa_costmap
Author(s): Gaël Ecorchard , Karel Košnar
autogenerated on Sat Jun 8 2019 20:58:44