vigir_footstep_planning::GridMapModel Class Reference

#include <grid_map_model.h>

Inheritance diagram for vigir_footstep_planning::GridMapModel:

Public Member Functions
	GridMapModel (const std::string &name)
bool	loadParams (const vigir_generic_params::ParameterSet &params=vigir_generic_params::ParameterSet()) override

Protected Member Functions
bool	collision_check (double x, double y, double cos_theta, double sin_theta, double height, double width) const
	Checks if a footstep (represented by its center and orientation) collides with an obstacle. The check is done by recursively testing if either the circumcircle of the foot, the inner circle of the foot or the area in between has an appropriate distance to the nearest obstacle. More...
void	mapCallback (const nav_msgs::OccupancyGridConstPtr &occupancy_grid_map_)

Protected Attributes
int	collision_check_accuracy
vigir_gridmap_2d::GridMap2D	distance_map

Detailed Description

Definition at line 45 of file grid_map_model.h.

Constructor & Destructor Documentation

vigir_footstep_planning::GridMapModel::GridMapModel

(

const std::string &

name

)

Definition at line 7 of file grid_map_model.cpp.

Member Function Documentation

bool vigir_footstep_planning::GridMapModel::collision_check ( double  x, double  y, double  cos_theta, double  sin_theta, double  height, double  width  ) const

protected

Checks if a footstep (represented by its center and orientation) collides with an obstacle. The check is done by recursively testing if either the circumcircle of the foot, the inner circle of the foot or the area in between has an appropriate distance to the nearest obstacle.

Parameters

x	Global position of the foot in x direction.
y	Global position of the foot in y direction.
theta	Global orientation of the foot.
height	Size of the foot in x direction.
width	Size of the foot in y direction. obstacle.

Returns

True if the footstep collides with an obstacle.

Definition at line 29 of file grid_map_model.cpp.

bool vigir_footstep_planning::GridMapModel::loadParams ( const vigir_generic_params::ParameterSet &  params = vigir_generic_params::ParameterSet() )

override

Definition at line 12 of file grid_map_model.cpp.

void vigir_footstep_planning::GridMapModel::mapCallback ( const nav_msgs::OccupancyGridConstPtr &  occupancy_grid_map_ )

protected

Definition at line 21 of file grid_map_model.cpp.

Member Data Documentation

int vigir_footstep_planning::GridMapModel::collision_check_accuracy

protected

accuracy: (0) circumcircle of the foot; (1) incircle of the foot; (2) circumcircle and incircle recursivly checked for the whole foot

Definition at line 81 of file grid_map_model.h.

vigir_gridmap_2d::GridMap2D vigir_footstep_planning::GridMapModel::distance_map

protected

Definition at line 75 of file grid_map_model.h.

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

• grid_map_model.h
• grid_map_model.cpp