| ▼Nbase_local_planner | |
| CCostmapModel | A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using the costmap |
| CFootprintHelper | |
| CFootprintHelperTest | |
| CLatchedStopRotateController | |
| CLineIterator | |
| CLocalPlannerLimits | |
| CLocalPlannerUtil | Helper class implementing infrastructure code many local planner implementations may need |
| CMapCell | Stores path distance and goal distance information used for scoring trajectories |
| CMapGrid | A grid of MapCell cells that is used to propagate path and goal distances for the trajectory controller |
| CMapGridCostFunction | |
| CMapGridCostPoint | |
| CMapGridVisualizer | |
| CObstacleCostFunction | Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory |
| COdometryHelperRos | |
| COscillationCostFunction | |
| CPlanarLaserScan | Stores a scan from a planar laser that can be used to clear freespace |
| CPointGrid | A class that implements the WorldModel interface to provide free-space collision checks for the trajectory controller. This class stores points binned into a grid and performs point-in-polygon checks when necessary to determine the legality of a footprint at a given position/orientation |
| CPreferForwardCostFunction | |
| CSimpleScoredSamplingPlanner | Generates a local plan using the given generator and cost functions. Assumes less cost are best, and negative costs indicate infinite costs |
| CSimpleTrajectoryGenerator | |
| CTrajectory | Holds a trajectory generated by considering an x, y, and theta velocity |
| CTrajectoryCostFunction | Provides an interface for critics of trajectories During each sampling run, a batch of many trajectories will be scored using such a cost function. The prepare method is called before each batch run, and then for each trajectory of the sampling set, score_trajectory may be called |
| CTrajectoryGeneratorTest | |
| CTrajectoryPlanner | Computes control velocities for a robot given a costmap, a plan, and the robot's position in the world |
| CTrajectoryPlannerROS | A ROS wrapper for the trajectory controller that queries the param server to construct a controller |
| CTrajectoryPlannerTest | |
| CTrajectorySampleGenerator | Provides an interface for navigation trajectory generators |
| CTrajectorySearch | Interface for modules finding a trajectory to use for navigation commands next |
| CTwirlingCostFunction | |
| CVelocityIterator | |
| CVoxelGridModel | A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using a 3D voxel grid |
| CWavefrontMapAccessor | |
| CWorldModel | An interface the trajectory controller uses to interact with the world regardless of the underlying world model |