obstacle_finder::ObstacleFinder Class Reference

#include <obstacle_finder.h>

List of all members.

Public Member Functions
Obstacle	nearestObstacle (costmap_2d::Costmap2DROS *new_costmap, double robot_odom_x, double robot_odom_y)
Obstacle	nearestObstacle (double robot_odom_x, double robot_odom_y)
Obstacle	nearestObstacle ()
	ObstacleFinder (costmap_2d::Costmap2DROS *costmap, double robot_odom_x, double robot_odom_y)
Private Attributes
costmap_2d::Costmap2DROS *	costmap_
double	robot_odom_x_
double	robot_odom_y_

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Detailed Description

Definition at line 17 of file obstacle_finder.h.

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Constructor & Destructor Documentation

obstacle_finder::ObstacleFinder::ObstacleFinder	(	costmap_2d::Costmap2DROS *	costmap,
		double	robot_odom_x,
		double	robot_odom_y
	)

Definition at line 5 of file obstacle_finder.cpp.

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Member Function Documentation

Obstacle obstacle_finder::ObstacleFinder::nearestObstacle	(	costmap_2d::Costmap2DROS *	new_costmap,
		double	robot_odom_x,
		double	robot_odom_y
	)

Returns:

calculates the distance to and location of the nearest cell with LETHAL cost. Returned units are costmap cells, and in odom frame.

Parameters:

costmap	the costmap to find obstacle one
robot_odom_x	needs to be in the odom frame, in units of cells
robot_odom_y	y needs to be in the odom frame, in units of cells

Definition at line 22 of file obstacle_finder.cpp.

Obstacle obstacle_finder::ObstacleFinder::nearestObstacle	(	double	robot_odom_x,
		double	robot_odom_y
	)

Definition at line 15 of file obstacle_finder.cpp.

Obstacle obstacle_finder::ObstacleFinder::nearestObstacle

(

)

Definition at line 10 of file obstacle_finder.cpp.

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Member Data Documentation

costmap_2d::Costmap2DROS* obstacle_finder::ObstacleFinder::costmap_ [private]

Definition at line 35 of file obstacle_finder.h.

double obstacle_finder::ObstacleFinder::robot_odom_x_ [private]

Definition at line 36 of file obstacle_finder.h.

double obstacle_finder::ObstacleFinder::robot_odom_y_ [private]

Definition at line 37 of file obstacle_finder.h.

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

• obstacle_finder.h
• obstacle_finder.cpp