35 #ifndef DLUX_GLOBAL_PLANNER_COST_INTERPRETER_H 36 #define DLUX_GLOBAL_PLANNER_COST_INTERPRETER_H 70 void setConfiguration(
const unsigned char neutral_cost,
const float scale,
const UnknownInterpretation mode);
76 return cached_costs_[cost];
79 inline float getCost(
const unsigned int x,
const unsigned int y)
const 89 typedef std::shared_ptr<CostInterpreter>
Ptr;
99 #endif // DLUX_GLOBAL_PLANNER_COST_INTERPRETER_H
bool isLethal(const float cost) const
float interpretCost(const unsigned char cost) const
static const unsigned char INSCRIBED_INFLATED_OBSTACLE
ROSCONSOLE_DECL void initialize()
const float LETHAL_COST_F
NumericType interpretCost(IntegralType original_value, const std::vector< NumericType > &cost_interpretation_table)
const unsigned char LETHAL_COST
unsigned char getNeutralCost() const
nav_core2::Costmap::Ptr costmap_
unsigned char neutral_cost_
std::shared_ptr< CostInterpreter > Ptr
std::array< float, 256 > cached_costs_
std::shared_ptr< Costmap > Ptr
float getCost(const unsigned int x, const unsigned int y) const