obstacle_footprint.h
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34 
35 #ifndef DWB_CRITICS_OBSTACLE_FOOTPRINT_H
36 #define DWB_CRITICS_OBSTACLE_FOOTPRINT_H
37 
39 #include <nav_2d_msgs/Polygon2D.h>
40 #include <vector>
41 
42 namespace dwb_critics
43 {
44 
56 {
57 public:
58  void onInit() override;
59  bool prepare(const geometry_msgs::Pose2D& pose, const nav_2d_msgs::Twist2D& vel,
60  const geometry_msgs::Pose2D& goal, const nav_2d_msgs::Path2D& global_plan) override;
61  double scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose) override;
62  virtual double scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose,
63  const nav_2d_msgs::Polygon2D& oriented_footprint);
64  double getScale() const override { return costmap_->getResolution() * scale_; }
65 protected:
66  nav_2d_msgs::Polygon2D footprint_spec_;
67 };
68 } // namespace dwb_critics
69 
70 #endif // DWB_CRITICS_OBSTACLE_FOOTPRINT_H
nav_core2::BasicCostmap costmap
double scorePose(const nav_core2::Costmap &costmap, const geometry_msgs::Pose2D &pose) override
Return the obstacle score for a particular pose.
Uses costmap to assign negative costs if a circular robot would collide at any point of the trajector...
Definition: base_obstacle.h:53
nav_core2::Costmap::Ptr costmap_
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
Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajec...


dwb_critics
Author(s): David V. Lu!!
autogenerated on Sun Jan 10 2021 04:08:44