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00038 #ifndef COSTMAP_2D_FOOTPRINT_H
00039 #define COSTMAP_2D_FOOTPRINT_H
00040
00041 #include <ros/ros.h>
00042 #include <geometry_msgs/Polygon.h>
00043 #include <geometry_msgs/PolygonStamped.h>
00044 #include <geometry_msgs/Point.h>
00045 #include <geometry_msgs/Point32.h>
00046
00047 namespace costmap_2d
00048 {
00049
00057 void calculateMinAndMaxDistances(const std::vector<geometry_msgs::Point>& footprint,
00058 double& min_dist, double& max_dist);
00059
00063 geometry_msgs::Point toPoint(geometry_msgs::Point32 pt);
00064
00068 geometry_msgs::Point32 toPoint32(geometry_msgs::Point pt);
00069
00073 geometry_msgs::Polygon toPolygon(std::vector<geometry_msgs::Point> pts);
00074
00078 std::vector<geometry_msgs::Point> toPointVector(geometry_msgs::Polygon polygon);
00079
00088 void transformFootprint(double x, double y, double theta, const std::vector<geometry_msgs::Point>& footprint_spec,
00089 std::vector<geometry_msgs::Point>& oriented_footprint);
00090
00099 void transformFootprint(double x, double y, double theta, const std::vector<geometry_msgs::Point>& footprint_spec,
00100 geometry_msgs::PolygonStamped & oriented_footprint);
00101
00105 void padFootprint(std::vector<geometry_msgs::Point>& footprint, double padding);
00106
00110 std::vector<geometry_msgs::Point> makeFootprintFromRadius(double radius);
00111
00118 bool makeFootprintFromString(const std::string& footprint_string, std::vector<geometry_msgs::Point>& footprint);
00119
00124 std::vector<geometry_msgs::Point> makeFootprintFromParams(ros::NodeHandle& nh);
00125
00137 std::vector<geometry_msgs::Point> makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& footprint_xmlrpc,
00138 const std::string& full_param_name);
00139
00143 void writeFootprintToParam(ros::NodeHandle& nh, const std::vector<geometry_msgs::Point>& footprint);
00144
00145 }
00146
00147 #endif // COSTMAP_2D_FOOTPRINT_H
costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:15