navfn Namespace Reference

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	create_nav_plan_astar (const COSTTYPE *costmap, int nx, int ny, int *goal, int *start, float *plan, int nplan)

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Function Documentation

int navfn::create_nav_plan_astar	(	COSTTYPE *	costmap,
		int	nx,
		int	ny,
		int *	goal,
		int *	start,
		float *	plan,
		int	nplan
	)

Definition at line 58 of file navfn.cpp.

int navfn::create_nav_plan_astar	(	const COSTTYPE *	costmap,
		int	nx,
		int	ny,
		int *	goal,
		int *	start,
		float *	plan,
		int	nplan
	)

Navigation function call.

Parameters:

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.