cost_interpreter.h
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34 
35 #ifndef DLUX_GLOBAL_PLANNER_COST_INTERPRETER_H
36 #define DLUX_GLOBAL_PLANNER_COST_INTERPRETER_H
37 #include <nav_core2/costmap.h>
38 #include <ros/node_handle.h>
39 #include <array>
40 #include <memory>
41 
43 {
46 const float LETHAL_COST_F = static_cast<float>(LETHAL_COST);
47 
67 {
68 public:
70  void setConfiguration(const unsigned char neutral_cost, const float scale, const UnknownInterpretation mode);
71 
72  inline unsigned char getNeutralCost() const { return neutral_cost_; }
73 
74  inline float interpretCost(const unsigned char cost) const
75  {
76  return cached_costs_[cost];
77  }
78 
79  inline float getCost(const unsigned int x, const unsigned int y) const
80  {
81  return interpretCost(costmap_->operator()(x, y));
82  }
83 
84  inline bool isLethal(const float cost) const
85  {
86  return cost >= LETHAL_COST_F;
87  }
88 
89  typedef std::shared_ptr<CostInterpreter> Ptr;
90 
91 protected:
92  std::array<float, 256> cached_costs_;
93  unsigned char neutral_cost_;
94 
96 };
97 } // namespace dlux_global_planner
98 
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
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


dlux_global_planner
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autogenerated on Sun Jan 10 2021 04:08:52