base_obstacle.h
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34 
35 #ifndef DWB_CRITICS_BASE_OBSTACLE_H
36 #define DWB_CRITICS_BASE_OBSTACLE_H
37 
39 
40 namespace dwb_critics
41 {
54 {
55 public:
56  void onInit() override;
57  double scoreTrajectory(const dwb_msgs::Trajectory2D& traj) override;
58  void addCriticVisualization(sensor_msgs::PointCloud& pc) override;
59 
65  virtual double scorePose(const nav_core2::Costmap& costmap, const geometry_msgs::Pose2D& pose);
66 
72  virtual bool isValidCost(const unsigned char cost);
73 
74 protected:
76 };
77 } // namespace dwb_critics
78 
79 #endif // DWB_CRITICS_BASE_OBSTACLE_H
double scoreTrajectory(const dwb_msgs::Trajectory2D &traj) override
nav_core2::BasicCostmap costmap
virtual double scorePose(const nav_core2::Costmap &costmap, const geometry_msgs::Pose2D &pose)
Return the obstacle score for a particular pose.
void addCriticVisualization(sensor_msgs::PointCloud &pc) override
Uses costmap to assign negative costs if a circular robot would collide at any point of the trajector...
Definition: base_obstacle.h:53
virtual bool isValidCost(const unsigned char cost)
Check to see whether a given cell cost is valid for driving through.


dwb_critics
Author(s): David V. Lu!!
autogenerated on Wed Jun 26 2019 20:06:22