map_grid_cost_function.h
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00037 
00038 #ifndef MAP_GRID_COST_FUNCTION_H_
00039 #define MAP_GRID_COST_FUNCTION_H_
00040 
00041 #include <base_local_planner/trajectory_cost_function.h>
00042 
00043 #include <costmap_2d/costmap_2d.h>
00044 #include <base_local_planner/map_grid.h>
00045 
00046 namespace base_local_planner {
00047 
00053 enum CostAggregationType { Last, Sum, Product};
00054 
00073 class MapGridCostFunction: public base_local_planner::TrajectoryCostFunction {
00074 public:
00075   MapGridCostFunction(costmap_2d::Costmap2D* costmap,
00076       double xshift = 0.0,
00077       double yshift = 0.0,
00078       bool is_local_goal_function = false,
00079       CostAggregationType aggregationType = Last);
00080 
00081   ~MapGridCostFunction() {}
00082 
00086   void setTargetPoses(std::vector<geometry_msgs::PoseStamped> target_poses);
00087 
00088   void setXShift(double xshift) {xshift_ = xshift;}
00089   void setYShift(double yshift) {yshift_ = yshift;}
00090 
00094   void setStopOnFailure(bool stop_on_failure) {stop_on_failure_ = stop_on_failure;}
00095 
00099   bool prepare();
00100 
00101   double scoreTrajectory(Trajectory &traj);
00102 
00106   double obstacleCosts() {
00107     return map_.obstacleCosts();
00108   }
00109 
00114   double unreachableCellCosts() {
00115     return map_.unreachableCellCosts();
00116   }
00117 
00118   // used for easier debugging
00119   double getCellCosts(unsigned int cx, unsigned int cy);
00120 
00121 private:
00122   std::vector<geometry_msgs::PoseStamped> target_poses_;
00123   costmap_2d::Costmap2D* costmap_;
00124 
00125   base_local_planner::MapGrid map_;
00126   CostAggregationType aggregationType_;
00128   // ooints of robots than center, like fron or back
00129   // this can help with alignment or keeping specific
00130   // wheels on tracks both default to 0
00131   double xshift_;
00132   double yshift_;
00133   // if true, we look for a suitable local goal on path, else we use the full path for costs
00134   bool is_local_goal_function_;
00135   bool stop_on_failure_;
00136 };
00137 
00138 } /* namespace base_local_planner */
00139 #endif /* MAP_GRID_COST_FUNCTION_H_ */


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:08