A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using the costmap. More...
#include <costmap_model.h>
Public Member Functions | |
CostmapModel (const costmap_2d::Costmap2D &costmap) | |
Constructor for the CostmapModel. | |
virtual double | footprintCost (const geometry_msgs::Point &position, const std::vector< geometry_msgs::Point > &footprint, double inscribed_radius, double circumscribed_radius) |
Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid. | |
virtual | ~CostmapModel () |
Destructor for the world model. | |
Private Member Functions | |
double | lineCost (int x0, int x1, int y0, int y1) |
Rasterizes a line in the costmap grid and checks for collisions. | |
double | pointCost (int x, int y) |
Checks the cost of a point in the costmap. | |
Private Attributes | |
const costmap_2d::Costmap2D & | costmap_ |
Allows access of costmap obstacle information. |
A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using the costmap.
Definition at line 50 of file costmap_model.h.
base_local_planner::CostmapModel::CostmapModel | ( | const costmap_2d::Costmap2D & | costmap | ) |
Constructor for the CostmapModel.
costmap | The costmap that should be used |
Definition at line 44 of file costmap_model.cpp.
virtual base_local_planner::CostmapModel::~CostmapModel | ( | ) | [inline, virtual] |
Destructor for the world model.
Definition at line 62 of file costmap_model.h.
double base_local_planner::CostmapModel::footprintCost | ( | const geometry_msgs::Point & | position, |
const std::vector< geometry_msgs::Point > & | footprint, | ||
double | inscribed_radius, | ||
double | circumscribed_radius | ||
) | [virtual] |
Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid.
position | The position of the robot in world coordinates |
footprint | The specification of the footprint of the robot in world coordinates |
inscribed_radius | The radius of the inscribed circle of the robot |
circumscribed_radius | The radius of the circumscribed circle of the robot |
Implements base_local_planner::WorldModel.
Definition at line 46 of file costmap_model.cpp.
double base_local_planner::CostmapModel::lineCost | ( | int | x0, |
int | x1, | ||
int | y0, | ||
int | y1 | ||
) | [private] |
Rasterizes a line in the costmap grid and checks for collisions.
x0 | The x position of the first cell in grid coordinates |
y0 | The y position of the first cell in grid coordinates |
x1 | The x position of the second cell in grid coordinates |
y1 | The y position of the second cell in grid coordinates |
Definition at line 108 of file costmap_model.cpp.
double base_local_planner::CostmapModel::pointCost | ( | int | x, |
int | y | ||
) | [private] |
Checks the cost of a point in the costmap.
x | The x position of the point in cell coordinates |
y | The y position of the point in cell coordinates |
Definition at line 128 of file costmap_model.cpp.
const costmap_2d::Costmap2D& base_local_planner::CostmapModel::costmap_ [private] |
Allows access of costmap obstacle information.
Definition at line 94 of file costmap_model.h.