navfn Namespace Reference

Classes
class	NavFn
	Navigation function class. Holds buffers for costmap, navfn map. Maps are pixel-based. Origin is upper left, x is right, y is down. More...
class	NavfnROS
	Provides a ROS wrapper for the navfn planner which runs a fast, interpolated navigation function on a costmap. More...
class	NavfnWithCostmap
class	NavWin
struct	PotarrPoint

Functions
int	create_nav_plan_astar (COSTTYPE *costmap, int nx, int ny, int *goal, int *start, float *plan, int nplan)

Function Documentation

create_nav_plan_astar()

int navfn::create_nav_plan_astar	(	COSTTYPE *	costmap,
		int	nx,
		int	ny,
		int *	goal,
		int *	start,
		float *	plan,
		int	nplan
	)

Navigation function call.
\param costmap Cost map array, of type COSTTYPE; origin is upper left

NOTE: will be modified to have a border of obstacle costs

Parameters

nx	Width of map in cells
ny	Height of map in cells
goal	X,Y position of goal cell
start	X,Y position of start cell

Returns length of plan if found, and fills an array with x,y interpolated positions at about 1/2 cell resolution; else returns 0.

Definition at line 90 of file navfn.cpp.