footprint.h
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35  * Author: Eitan Marder-Eppstein
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38 #ifndef COSTMAP_2D_FOOTPRINT_H
39 #define COSTMAP_2D_FOOTPRINT_H
40 
41 #include <ros/ros.h>
42 #include <geometry_msgs/Polygon.h>
43 #include <geometry_msgs/PolygonStamped.h>
44 #include <geometry_msgs/Point.h>
45 #include <geometry_msgs/Point32.h>
46 
47 namespace costmap_2d
48 {
49 
57 void calculateMinAndMaxDistances(const std::vector<geometry_msgs::Point>& footprint,
58  double& min_dist, double& max_dist);
59 
63 geometry_msgs::Point toPoint(geometry_msgs::Point32 pt);
64 
68 geometry_msgs::Point32 toPoint32(geometry_msgs::Point pt);
69 
73 geometry_msgs::Polygon toPolygon(std::vector<geometry_msgs::Point> pts);
74 
78 std::vector<geometry_msgs::Point> toPointVector(geometry_msgs::Polygon polygon);
79 
88 void transformFootprint(double x, double y, double theta, const std::vector<geometry_msgs::Point>& footprint_spec,
89  std::vector<geometry_msgs::Point>& oriented_footprint);
90 
99 void transformFootprint(double x, double y, double theta, const std::vector<geometry_msgs::Point>& footprint_spec,
100  geometry_msgs::PolygonStamped & oriented_footprint);
101 
105 void padFootprint(std::vector<geometry_msgs::Point>& footprint, double padding);
106 
110 std::vector<geometry_msgs::Point> makeFootprintFromRadius(double radius);
111 
118 bool makeFootprintFromString(const std::string& footprint_string, std::vector<geometry_msgs::Point>& footprint);
119 
124 std::vector<geometry_msgs::Point> makeFootprintFromParams(ros::NodeHandle& nh);
125 
137 std::vector<geometry_msgs::Point> makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& footprint_xmlrpc,
138  const std::string& full_param_name);
139 
143 void writeFootprintToParam(ros::NodeHandle& nh, const std::vector<geometry_msgs::Point>& footprint);
144 
145 } // end namespace costmap_2d
146 
147 #endif // COSTMAP_2D_FOOTPRINT_H
std::vector< geometry_msgs::Point > makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue &footprint_xmlrpc, const std::string &full_param_name)
Create the footprint from the given XmlRpcValue.
Definition: footprint.cpp:287
std::vector< geometry_msgs::Point > makeFootprintFromParams(ros::NodeHandle &nh)
Read the ros-params "footprint" and/or "robot_radius" from the given NodeHandle using searchParam() t...
Definition: footprint.cpp:212
geometry_msgs::Point32 toPoint32(geometry_msgs::Point pt)
Convert Point to Point32.
Definition: footprint.cpp:69
void writeFootprintToParam(ros::NodeHandle &nh, const std::vector< geometry_msgs::Point > &footprint)
Write the current unpadded_footprint_ to the "footprint" parameter of the given NodeHandle so that dy...
Definition: footprint.cpp:252
bool makeFootprintFromString(const std::string &footprint_string, std::vector< geometry_msgs::Point > &footprint)
Make the footprint from the given string.
Definition: footprint.cpp:170
std::vector< geometry_msgs::Point > toPointVector(geometry_msgs::Polygon polygon)
Convert Polygon msg to vector of Points.
Definition: footprint.cpp:96
std::vector< geometry_msgs::Point > makeFootprintFromRadius(double radius)
Create a circular footprint from a given radius.
Definition: footprint.cpp:150
void padFootprint(std::vector< geometry_msgs::Point > &footprint, double padding)
Adds the specified amount of padding to the footprint (in place)
Definition: footprint.cpp:138
geometry_msgs::Polygon toPolygon(std::vector< geometry_msgs::Point > pts)
Convert vector of Points to Polygon msg.
Definition: footprint.cpp:87
geometry_msgs::Point toPoint(geometry_msgs::Point32 pt)
Convert Point32 to Point.
Definition: footprint.cpp:78
void transformFootprint(double x, double y, double theta, const std::vector< geometry_msgs::Point > &footprint_spec, std::vector< geometry_msgs::Point > &oriented_footprint)
Given a pose and base footprint, build the oriented footprint of the robot (list of Points) ...
Definition: footprint.cpp:106
void calculateMinAndMaxDistances(const std::vector< geometry_msgs::Point > &footprint, double &min_dist, double &max_dist)
Calculate the extreme distances for the footprint.
Definition: footprint.cpp:41


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:44:17