costmap_model.h
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of the Willow Garage nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #ifndef TRAJECTORY_ROLLOUT_COSTMAP_MODEL_
00038 #define TRAJECTORY_ROLLOUT_COSTMAP_MODEL_
00039 
00040 #include <base_local_planner/world_model.h>
00041 // For obstacle data access
00042 #include <costmap_2d/costmap_2d.h>
00043 
00044 namespace base_local_planner {
00050   class CostmapModel : public WorldModel {
00051     public:
00057       CostmapModel(const costmap_2d::Costmap2D& costmap);
00058 
00062       virtual ~CostmapModel(){}
00063       using WorldModel::footprintCost;
00064 
00073       virtual double footprintCost(const geometry_msgs::Point& position, const std::vector<geometry_msgs::Point>& footprint,
00074           double inscribed_radius, double circumscribed_radius);
00075 
00076     private:
00085       double lineCost(int x0, int x1, int y0, int y1);
00086 
00093       double pointCost(int x, int y);
00094 
00095       const costmap_2d::Costmap2D& costmap_; 
00096 
00097   };
00098 };
00099 #endif


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Wed Aug 2 2017 03:12:38