base_local_planner::MapCell Class Reference

Stores path distance and goal distance information used for scoring trajectories. More...

#include <map_cell.h>

List of all members.

Public Member Functions
	MapCell ()
	Default constructor.
	MapCell (const MapCell &mc)
	Copy constructor.
Public Attributes
unsigned int	cx
unsigned int	cy
	Cell index in the grid map.
double	goal_dist
	Distance to local goal.
bool	goal_mark
	Marks fir computing path/goal distances.
double	occ_dist
	Distance to obstacles.
int	occ_state
	Occupancy state (-1 = free, 0 = unknown, 1 = occupied)
double	path_dist
	Distance to planner's path.
bool	path_mark
bool	within_robot
	Mark for cells within the robot footprint.

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Detailed Description

Stores path distance and goal distance information used for scoring trajectories.

Definition at line 44 of file map_cell.h.

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Constructor & Destructor Documentation

base_local_planner::MapCell::MapCell

(

)

Default constructor.

Definition at line 39 of file map_cell.cpp.

base_local_planner::MapCell::MapCell

(

const MapCell &

mc

)

Copy constructor.

Parameters:

mc	The MapCell to be copied

Definition at line 43 of file map_cell.cpp.

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Member Data Documentation

unsigned int base_local_planner::MapCell::cx

Definition at line 57 of file map_cell.h.

unsigned int base_local_planner::MapCell::cy

Cell index in the grid map.

Definition at line 57 of file map_cell.h.

double base_local_planner::MapCell::goal_dist

Distance to local goal.

Definition at line 61 of file map_cell.h.

bool base_local_planner::MapCell::goal_mark

Marks fir computing path/goal distances.

Definition at line 67 of file map_cell.h.

double base_local_planner::MapCell::occ_dist

Distance to obstacles.

Definition at line 63 of file map_cell.h.

int base_local_planner::MapCell::occ_state

Occupancy state (-1 = free, 0 = unknown, 1 = occupied)

Definition at line 65 of file map_cell.h.

double base_local_planner::MapCell::path_dist

Distance to planner's path.

Definition at line 59 of file map_cell.h.

bool base_local_planner::MapCell::path_mark

Definition at line 67 of file map_cell.h.

bool base_local_planner::MapCell::within_robot

Mark for cells within the robot footprint.

Definition at line 69 of file map_cell.h.

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

• map_cell.h
• map_cell.cpp