Public Member Functions | Protected Member Functions | Protected Attributes
vigir_footstep_planning::GridMapModel Class Reference

#include <grid_map_model.h>

Inheritance diagram for vigir_footstep_planning::GridMapModel:
Inheritance graph
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List of all members.

Public Member Functions

 GridMapModel (const std::string &name)
bool loadParams (const vigir_generic_params::ParameterSet &params=vigir_generic_params::ParameterSet()) override

Protected Member Functions

bool collision_check (double x, double y, double cos_theta, double sin_theta, double height, double width) const
 Checks if a footstep (represented by its center and orientation) collides with an obstacle. The check is done by recursively testing if either the circumcircle of the foot, the inner circle of the foot or the area in between has an appropriate distance to the nearest obstacle.
void mapCallback (const nav_msgs::OccupancyGridConstPtr &occupancy_grid_map_)

Protected Attributes

int collision_check_accuracy
vigir_gridmap_2d::GridMap2D distance_map

Detailed Description

Definition at line 45 of file grid_map_model.h.


Constructor & Destructor Documentation

Definition at line 7 of file grid_map_model.cpp.


Member Function Documentation

bool vigir_footstep_planning::GridMapModel::collision_check ( double  x,
double  y,
double  cos_theta,
double  sin_theta,
double  height,
double  width 
) const [protected]

Checks if a footstep (represented by its center and orientation) collides with an obstacle. The check is done by recursively testing if either the circumcircle of the foot, the inner circle of the foot or the area in between has an appropriate distance to the nearest obstacle.

Parameters:
xGlobal position of the foot in x direction.
yGlobal position of the foot in y direction.
thetaGlobal orientation of the foot.
heightSize of the foot in x direction.
widthSize of the foot in y direction. obstacle.
Returns:
True if the footstep collides with an obstacle.

Definition at line 29 of file grid_map_model.cpp.

bool vigir_footstep_planning::GridMapModel::loadParams ( const vigir_generic_params::ParameterSet &  params = vigir_generic_params::ParameterSet()) [override]

Definition at line 12 of file grid_map_model.cpp.

void vigir_footstep_planning::GridMapModel::mapCallback ( const nav_msgs::OccupancyGridConstPtr &  occupancy_grid_map_) [protected]

Definition at line 21 of file grid_map_model.cpp.


Member Data Documentation

accuracy: (0) circumcircle of the foot; (1) incircle of the foot; (2) circumcircle and incircle recursivly checked for the whole foot

Definition at line 81 of file grid_map_model.h.

Definition at line 75 of file grid_map_model.h.


The documentation for this class was generated from the following files:


vigir_footstep_planning_default_plugins
Author(s): Alexander Stumpf
autogenerated on Thu Jun 6 2019 18:38:07