Public Member Functions
	FootprintHelper ()

void	getFillCells (std::vector< base_local_planner::Position2DInt > &footprint)
	Fill the outline of a polygon, in this case the robot footprint, in a grid. More...

std::vector< base_local_planner::Position2DInt >	getFootprintCells (Eigen::Vector3f pos, std::vector< geometry_msgs::Point > footprint_spec, const costmap_2d::Costmap2D &, bool fill)
	Used to get the cells that make up the footprint of the robot. More...

void	getLineCells (int x0, int x1, int y0, int y1, std::vector< base_local_planner::Position2DInt > &pts)
	Use Bresenham's algorithm to trace a line between two points in a grid. More...

virtual	~FootprintHelper ()

Detailed Description

Definition at line 85 of file footprint_helper.h.

Constructor & Destructor Documentation

base_local_planner::FootprintHelper::FootprintHelper ( )

Definition at line 77 of file footprint_helper.cpp.

base_local_planner::FootprintHelper::~FootprintHelper ( )

virtual

Definition at line 82 of file footprint_helper.cpp.

void base_local_planner::FootprintHelper::getFillCells ( std::vector< base_local_planner::Position2DInt > & footprint )

Fill the outline of a polygon, in this case the robot footprint, in a grid.

Parameters

footprint The list of cells making up the footprint in the grid, will be modified to include all cells inside the footprint

Definition at line 158 of file footprint_helper.cpp.

std::vector< base_local_planner::Position2DInt > base_local_planner::FootprintHelper::getFootprintCells	(	Eigen::Vector3f	pos,
		std::vector< geometry_msgs::Point >	footprint_spec,
		const costmap_2d::Costmap2D &	costmap,
		bool	fill
	)

Used to get the cells that make up the footprint of the robot.

Parameters

x_i	The x position of the robot
y_i	The y position of the robot
theta_i	The orientation of the robot
fill	If true: returns all cells in the footprint of the robot. If false: returns only the cells that make up the outline of the footprint.

Returns: The cells that make up either the outline or entire footprint of the robot depending on fill

get the cellsof a footprint at a given position

Definition at line 215 of file footprint_helper.cpp.

void base_local_planner::FootprintHelper::getLineCells	(	int	x0,
		int	x1,
		int	y0,
		int	y1,
		std::vector< base_local_planner::Position2DInt > &	pts
	)

Use Bresenham's algorithm to trace a line between two points in a grid.

Parameters

x0	The x coordinate of the first point
x1	The x coordinate of the second point
y0	The y coordinate of the first point
y1	The y coordinate of the second point
pts	Will be filled with the cells that lie on the line in the grid

Definition at line 86 of file footprint_helper.cpp.

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