#include <base_local_planner/trajectory_cost_function.h>
#include <base_local_planner/costmap_model.h>
#include <costmap_2d/costmap_2d.h>
Go to the source code of this file.
Classes | |
class | base_local_planner::ObstacleCostFunction |
Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory. More... | |
Namespaces | |
base_local_planner | |