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) |
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
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.