Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory. More...

#include <obstacle_footprint.h>

Inheritance diagram for dwb_critics::ObstacleFootprintCritic:

Public Member Functions
double	getScale () const override

void	onInit () override

bool	prepare (const geometry_msgs::Pose2D &pose, const nav_2d_msgs::Twist2D &vel, const geometry_msgs::Pose2D &goal, const nav_2d_msgs::Path2D &global_plan) override

double	scorePose (const nav_core2::Costmap &costmap, const geometry_msgs::Pose2D &pose) override
	Return the obstacle score for a particular pose. More...

virtual double	scorePose (const nav_core2::Costmap &costmap, const geometry_msgs::Pose2D &pose, const nav_2d_msgs::Polygon2D &oriented_footprint)

Public Member Functions inherited from dwb_critics::BaseObstacleCritic
void	addCriticVisualization (sensor_msgs::PointCloud &pc) override

virtual bool	isValidCost (const unsigned char cost)
	Check to see whether a given cell cost is valid for driving through. More...

double	scoreTrajectory (const dwb_msgs::Trajectory2D &traj) override

Public Member Functions inherited from dwb_local_planner::TrajectoryCritic
virtual void	debrief (const nav_2d_msgs::Twist2D &cmd_vel)

std::string	getName ()

void	initialize (const ros::NodeHandle &planner_nh, std::string name, nav_core2::Costmap::Ptr costmap)

virtual void	reset ()

void	setScale (const double scale)

virtual	~TrajectoryCritic ()

Protected Attributes
nav_2d_msgs::Polygon2D	footprint_spec_

Protected Attributes inherited from dwb_critics::BaseObstacleCritic
bool	sum_scores_

Protected Attributes inherited from dwb_local_planner::TrajectoryCritic
nav_core2::Costmap::Ptr	costmap_

ros::NodeHandle	critic_nh_

std::string	name_

ros::NodeHandle	planner_nh_

double	scale_

Additional Inherited Members
Public Types inherited from dwb_local_planner::TrajectoryCritic
typedef std::shared_ptr< dwb_local_planner::TrajectoryCritic >	Ptr

Detailed Description

Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory.

Internally, this technically only checks if the border of the footprint collides with anything for computational efficiency. This is valid if the obstacles in the local costmap are inflated.

A more robust class could check every cell within the robot's footprint without inflating the obstacles, at some computational cost. That is left as an excercise to the reader.

Definition at line 55 of file obstacle_footprint.h.

Member Function Documentation

double dwb_critics::ObstacleFootprintCritic::getScale ( ) const

inlineoverridevirtual

Reimplemented from dwb_local_planner::TrajectoryCritic.

Definition at line 64 of file obstacle_footprint.h.

void dwb_critics::ObstacleFootprintCritic::onInit ( )

overridevirtual

Reimplemented from dwb_critics::BaseObstacleCritic.

Definition at line 50 of file obstacle_footprint.cpp.

bool dwb_critics::ObstacleFootprintCritic::prepare	(	const geometry_msgs::Pose2D &	pose,
		const nav_2d_msgs::Twist2D &	vel,
		const geometry_msgs::Pose2D &	goal,
		const nav_2d_msgs::Path2D &	global_plan
	)

overridevirtual

Reimplemented from dwb_local_planner::TrajectoryCritic.

Definition at line 56 of file obstacle_footprint.cpp.

double dwb_critics::ObstacleFootprintCritic::scorePose	(	const nav_core2::Costmap &	costmap,
		const geometry_msgs::Pose2D &	pose
	)

overridevirtual

Return the obstacle score for a particular pose.

Parameters

costmap	Dereferenced costmap
pose	Pose to check

Reimplemented from dwb_critics::BaseObstacleCritic.

Definition at line 67 of file obstacle_footprint.cpp.

double dwb_critics::ObstacleFootprintCritic::scorePose	(	const nav_core2::Costmap &	costmap,
		const geometry_msgs::Pose2D &	pose,
		const nav_2d_msgs::Polygon2D &	oriented_footprint
	)

virtual

Definition at line 75 of file obstacle_footprint.cpp.

Member Data Documentation

nav_2d_msgs::Polygon2D dwb_critics::ObstacleFootprintCritic::footprint_spec_

protected

Definition at line 66 of file obstacle_footprint.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation