cost_map::ROSInflationComputer Class Reference

Function which can compute costs for the inflation layer. More...

#include <inflation.hpp>

Inheritance diagram for cost_map::ROSInflationComputer:

Public Member Functions
virtual unsigned char	operator() (const float &distance) const
	Given a distance, compute a cost. More...
	ROSInflationComputer (const float &inscribed_radius, const float &weight)
virtual	~ROSInflationComputer ()
Public Member Functions inherited from cost_map::InflationComputer
	InflationComputer ()
virtual	~InflationComputer ()

Private Attributes
float	inscribed_radius_
float	weight_

Detailed Description

Function which can compute costs for the inflation layer.

This class provides a default inflation function which works like the ROS inflation layer. Inherit from this to generate your own inflation functions.

Definition at line 55 of file inflation.hpp.

Constructor & Destructor Documentation

cost_map::ROSInflationComputer::ROSInflationComputer	(	const float &	inscribed_radius,
		const float &	weight
	)

Definition at line 153 of file inflation.cpp.

virtual cost_map::ROSInflationComputer::~ROSInflationComputer ( )

inlinevirtual

Definition at line 59 of file inflation.hpp.

Member Function Documentation

unsigned char cost_map::ROSInflationComputer::operator() ( const float &  distance ) const

virtual

Given a distance, compute a cost.

Parameters

distance

The metric distance from an obstacle (distance = cell_distance*resolution)

Returns

A cost value for the distance

Implements cost_map::InflationComputer.

Definition at line 161 of file inflation.cpp.

Member Data Documentation

float cost_map::ROSInflationComputer::inscribed_radius_

private

Definition at line 68 of file inflation.hpp.

float cost_map::ROSInflationComputer::weight_

private

Definition at line 68 of file inflation.hpp.

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The documentation for this class was generated from the following files:

• inflation.hpp
• inflation.cpp