Function which can compute costs for the inflation layer. More...
#include <inflation.hpp>
Public Member Functions | |
virtual unsigned char | operator() (const float &distance) const |
Given a distance, compute a cost. More... | |
ROSInflationComputer (const float &inscribed_radius, const float &weight) | |
virtual | ~ROSInflationComputer () |
Public Member Functions inherited from cost_map::InflationComputer | |
InflationComputer () | |
virtual | ~InflationComputer () |
Private Attributes | |
float | inscribed_radius_ |
float | weight_ |
Function which can compute costs for the inflation layer.
This class provides a default inflation function which works like the ROS inflation layer. Inherit from this to generate your own inflation functions.
Definition at line 55 of file inflation.hpp.
cost_map::ROSInflationComputer::ROSInflationComputer | ( | const float & | inscribed_radius, |
const float & | weight | ||
) |
Definition at line 153 of file inflation.cpp.
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inlinevirtual |
Definition at line 59 of file inflation.hpp.
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virtual |
Given a distance, compute a cost.
distance | The metric distance from an obstacle (distance = cell_distance*resolution) |
Implements cost_map::InflationComputer.
Definition at line 161 of file inflation.cpp.
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private |
Definition at line 68 of file inflation.hpp.
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private |
Definition at line 68 of file inflation.hpp.