obstacle_cost_function.h
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00037 
00038 #ifndef OBSTACLE_COST_FUNCTION_H_
00039 #define OBSTACLE_COST_FUNCTION_H_
00040 
00041 #include <base_local_planner/trajectory_cost_function.h>
00042 
00043 #include <base_local_planner/costmap_model.h>
00044 #include <costmap_2d/costmap_2d.h>
00045 
00046 namespace base_local_planner {
00047 
00053 class ObstacleCostFunction : public TrajectoryCostFunction {
00054 
00055 public:
00056   ObstacleCostFunction(costmap_2d::Costmap2D* costmap);
00057   ~ObstacleCostFunction();
00058 
00059   bool prepare();
00060   double scoreTrajectory(Trajectory &traj);
00061 
00062   void setSumScores(bool score_sums){ sum_scores_=score_sums; }
00063 
00064   void setParams(double max_trans_vel, double max_scaling_factor, double scaling_speed);
00065   void setFootprint(std::vector<geometry_msgs::Point> footprint_spec);
00066 
00067   // helper functions, made static for easy unit testing
00068   static double getScalingFactor(Trajectory &traj, double scaling_speed, double max_trans_vel, double max_scaling_factor);
00069   static double footprintCost(
00070       const double& x,
00071       const double& y,
00072       const double& th,
00073       double scale,
00074       std::vector<geometry_msgs::Point> footprint_spec,
00075       costmap_2d::Costmap2D* costmap,
00076       base_local_planner::WorldModel* world_model);
00077 
00078 private:
00079   costmap_2d::Costmap2D* costmap_;
00080   std::vector<geometry_msgs::Point> footprint_spec_;
00081   base_local_planner::WorldModel* world_model_;
00082   double max_trans_vel_;
00083   bool sum_scores_;
00084   //footprint scaling with velocity;
00085   double max_scaling_factor_, scaling_speed_;
00086 };
00087 
00088 } /* namespace base_local_planner */
00089 #endif /* OBSTACLE_COST_FUNCTION_H_ */


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