Static Public Member Functions
static void	getFillCells (std::vector< Cell > &footprint)
	Fill the outline of a polygon, in this case the robot footprint, in a grid. More...

static std::vector< Cell >	getFootprintCells (double x, double y, double theta, const 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...

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

Detailed Description

Definition at line 89 of file footprint_helper.h.

Member Function Documentation

void mbf_costmap_nav::FootprintHelper::getFillCells ( std::vector< Cell > & footprint )

static

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 150 of file footprint_helper.cpp.

std::vector< Cell > mbf_costmap_nav::FootprintHelper::getFootprintCells	(	double	x,
		double	y,
		double	theta,
		const std::vector< geometry_msgs::Point > &	footprint_spec,
		const costmap_2d::Costmap2D &	costmap,
		bool	fill
	)

static

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

Parameters

x	The x position of the robot
y	The y position of the robot
theta	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 cells of a footprint at a given position

Definition at line 216 of file footprint_helper.cpp.

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

static

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 78 of file footprint_helper.cpp.

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