yocs_navi_toolkit::CollisionChecker Class Reference

Simple single-state collision checker. More...

#include <collision_checker.hpp>

Public Member Functions
	CollisionChecker (costmap_2d::Costmap2DROS *costmap_ros)
	Initialise the checker with a costmap. More...
bool	inCollision (const float &x, const float &y, const float &yaw)
	Check for collision along the boundaries of the footprint. More...

Private Attributes
double	circumscribed_radius_
base_local_planner::CostmapModel	costmap_model_
costmap_2d::Costmap2DROS *	costmap_ros_
std::vector< geometry_msgs::Point >	footprint_
double	inscribed_radius_

Detailed Description

Simple single-state collision checker.

Assumptions:

• footprint, inscribed and circumscribed_radii don't change, compute on construction.

This may/should merge with the collision checker in the crrt local planner, however that is currently more complicated and entangled with the concept of a trajectory state.

Definition at line 39 of file collision_checker.hpp.

Constructor & Destructor Documentation

yocs_navi_toolkit::CollisionChecker::CollisionChecker

(

costmap_2d::Costmap2DROS *

costmap_ros

)

Initialise the checker with a costmap.

Parameters

costmap_ros

: usually either the local or global costmap

Definition at line 21 of file collision_checker.cpp.

Member Function Documentation

bool yocs_navi_toolkit::CollisionChecker::inCollision	(	const float &	x,
		const float &	y,
		const float &	yaw
	)

Check for collision along the boundaries of the footprint.

Keep in mind that it is only checking along the boundaries. This means that you can get false positives if you just carelessly look for collisions at any convenient point on the costmap as the boundaries might be fine, but there is an unlooked for collision inside the boundary of the footprint.

Definition at line 31 of file collision_checker.cpp.

Member Data Documentation

double yocs_navi_toolkit::CollisionChecker::circumscribed_radius_

private

Definition at line 61 of file collision_checker.hpp.

base_local_planner::CostmapModel yocs_navi_toolkit::CollisionChecker::costmap_model_

private

Definition at line 59 of file collision_checker.hpp.

costmap_2d::Costmap2DROS* yocs_navi_toolkit::CollisionChecker::costmap_ros_

private

Definition at line 58 of file collision_checker.hpp.

std::vector<geometry_msgs::Point> yocs_navi_toolkit::CollisionChecker::footprint_

private

Definition at line 60 of file collision_checker.hpp.

double yocs_navi_toolkit::CollisionChecker::inscribed_radius_

private

Definition at line 61 of file collision_checker.hpp.

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

• collision_checker.hpp
• collision_checker.cpp