navfn.h File Reference

#include <math.h>
#include <stdint.h>
#include <string.h>
#include <stdio.h>

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Classes
class	navfn::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...

Namespaces
	navfn

Macros
#define	COST_FACTOR   0.8
#define	COST_NEUTRAL   50
#define	COST_OBS   254
#define	COST_OBS_ROS   2000
#define	COST_UNKNOWN_ROS   255
#define	COSTTYPE   unsigned char
#define	POT_HIGH   1.0e10
#define	PRIORITYBUFSIZE   10000

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

Macro Definition Documentation

COST_FACTOR

#define COST_FACTOR   0.8

Definition at line 65 of file navfn.h.

COST_NEUTRAL

#define COST_NEUTRAL   50

Definition at line 64 of file navfn.h.

COST_OBS

#define COST_OBS   254

Definition at line 51 of file navfn.h.

COST_OBS_ROS

#define COST_OBS_ROS   2000

Definition at line 52 of file navfn.h.

COST_UNKNOWN_ROS

#define COST_UNKNOWN_ROS   255

Definition at line 50 of file navfn.h.

COSTTYPE

#define COSTTYPE   unsigned char

Definition at line 71 of file navfn.h.

POT_HIGH

#define POT_HIGH   1.0e10

Definition at line 75 of file navfn.h.

PRIORITYBUFSIZE

#define PRIORITYBUFSIZE   10000

Definition at line 78 of file navfn.h.