vigir_footstep_planning::UpperBodyGridMapModel Class Reference

#include <upper_body_grid_map_model.h>

Inheritance diagram for vigir_footstep_planning::UpperBodyGridMapModel:

Public Member Functions
bool	initialize (const vigir_generic_params::ParameterSet &params=vigir_generic_params::ParameterSet()) override
bool	isAccessible (const State &s) const override
bool	isAccessible (const State &next, const State &current) const override
	UpperBodyGridMapModel (const std::string &name="upper_body_grid_map_model")
Public Member Functions inherited from vigir_footstep_planning::GridMapModel
	GridMapModel (const std::string &name)
bool	loadParams (const vigir_generic_params::ParameterSet &params=vigir_generic_params::ParameterSet()) override

Protected Attributes
geometry_msgs::Vector3	upper_body_origin_shift
geometry_msgs::Vector3	upper_body_size
Protected Attributes inherited from vigir_footstep_planning::GridMapModel
int	collision_check_accuracy
vigir_gridmap_2d::GridMap2D	distance_map

Additional Inherited Members
Protected Member Functions inherited from vigir_footstep_planning::GridMapModel
bool	collision_check (double x, double y, double cos_theta, double sin_theta, double height, double width) const
	Checks if a footstep (represented by its center and orientation) collides with an obstacle. The check is done by recursively testing if either the circumcircle of the foot, the inner circle of the foot or the area in between has an appropriate distance to the nearest obstacle. More...
void	mapCallback (const nav_msgs::OccupancyGridConstPtr &occupancy_grid_map_)

Detailed Description

Definition at line 40 of file upper_body_grid_map_model.h.

Constructor & Destructor Documentation

vigir_footstep_planning::UpperBodyGridMapModel::UpperBodyGridMapModel

(

const std::string &

name = "upper_body_grid_map_model"

)

Definition at line 7 of file upper_body_grid_map_model.cpp.

Member Function Documentation

bool vigir_footstep_planning::UpperBodyGridMapModel::initialize ( const vigir_generic_params::ParameterSet &  params = vigir_generic_params::ParameterSet() )

override

Definition at line 12 of file upper_body_grid_map_model.cpp.

bool vigir_footstep_planning::UpperBodyGridMapModel::isAccessible ( const State &  s ) const

override

Definition at line 24 of file upper_body_grid_map_model.cpp.

bool vigir_footstep_planning::UpperBodyGridMapModel::isAccessible ( const State &  next, const State &  current  ) const

override

Definition at line 30 of file upper_body_grid_map_model.cpp.

Member Data Documentation

geometry_msgs::Vector3 vigir_footstep_planning::UpperBodyGridMapModel::upper_body_origin_shift

protected

Definition at line 54 of file upper_body_grid_map_model.h.

geometry_msgs::Vector3 vigir_footstep_planning::UpperBodyGridMapModel::upper_body_size

protected

Definition at line 53 of file upper_body_grid_map_model.h.

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

• upper_body_grid_map_model.h
• upper_body_grid_map_model.cpp