costmap_model.h
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35 * Author: Eitan Marder-Eppstein
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37 #ifndef TRAJECTORY_ROLLOUT_COSTMAP_MODEL_
38 #define TRAJECTORY_ROLLOUT_COSTMAP_MODEL_
39 
41 // For obstacle data access
42 #include <costmap_2d/costmap_2d.h>
43 
44 namespace base_local_planner {
50  class CostmapModel : public WorldModel {
51  public:
57  CostmapModel(const costmap_2d::Costmap2D& costmap);
58 
62  virtual ~CostmapModel(){}
64 
73  virtual double footprintCost(const geometry_msgs::Point& position, const std::vector<geometry_msgs::Point>& footprint,
74  double inscribed_radius, double circumscribed_radius);
75 
84  double lineCost(int x0, int x1, int y0, int y1) const;
85 
92  double pointCost(int x, int y) const;
93 
94  private:
96 
97  };
98 };
99 #endif
virtual double footprintCost(const geometry_msgs::Point &position, const std::vector< geometry_msgs::Point > &footprint, double inscribed_radius, double circumscribed_radius)=0
Subclass will implement this method to check a footprint at a given position and orientation for lega...
const costmap_2d::Costmap2D & costmap_
Allows access of costmap obstacle information.
Definition: costmap_model.h:95
virtual ~CostmapModel()
Destructor for the world model.
Definition: costmap_model.h:62
TFSIMD_FORCE_INLINE const tfScalar & y() const
double pointCost(int x, int y) const
Checks the cost of a point in the costmap.
TFSIMD_FORCE_INLINE const tfScalar & x() const
double lineCost(int x0, int x1, int y0, int y1) const
Rasterizes a line in the costmap grid and checks for collisions.
An interface the trajectory controller uses to interact with the world regardless of the underlying w...
Definition: world_model.h:52
virtual double footprintCost(const geometry_msgs::Point &position, const std::vector< geometry_msgs::Point > &footprint, double inscribed_radius, double circumscribed_radius)
Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid...
A class that implements the WorldModel interface to provide grid based collision checks for the traje...
Definition: costmap_model.h:50
CostmapModel(const costmap_2d::Costmap2D &costmap)
Constructor for the CostmapModel.


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:44:25