footprint_helper.h
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37 
38 #ifndef FOOTPRINT_HELPER_H_
39 #define FOOTPRINT_HELPER_H_
40 
41 #include <vector>
42 
43 #include <costmap_2d/costmap_2d.h>
44 #include <geometry_msgs/Point.h>
45 #include <Eigen/Core>
46 #include <base_local_planner/Position2DInt.h>
47 
48 namespace base_local_planner {
49 
51 public:
53  virtual ~FootprintHelper();
54 
63  std::vector<base_local_planner::Position2DInt> getFootprintCells(
64  Eigen::Vector3f pos,
65  std::vector<geometry_msgs::Point> footprint_spec,
66  const costmap_2d::Costmap2D&,
67  bool fill);
68 
77  void getLineCells(int x0, int x1, int y0, int y1, std::vector<base_local_planner::Position2DInt>& pts);
78 
83  void getFillCells(std::vector<base_local_planner::Position2DInt>& footprint);
84 };
85 
86 } /* namespace base_local_planner */
87 #endif /* FOOTPRINT_HELPER_H_ */
std::vector< base_local_planner::Position2DInt > getFootprintCells(Eigen::Vector3f pos, std::vector< geometry_msgs::Point > footprint_spec, const costmap_2d::Costmap2D &, bool fill)
Used to get the cells that make up the footprint of the robot.
void getFillCells(std::vector< base_local_planner::Position2DInt > &footprint)
Fill the outline of a polygon, in this case the robot footprint, in a grid.
void getLineCells(int x0, int x1, int y0, int y1, std::vector< base_local_planner::Position2DInt > &pts)
Use Bresenham&#39;s algorithm to trace a line between two points in a grid.


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:49