37 #ifndef TRAJECTORY_ROLLOUT_COSTMAP_MODEL_ 38 #define TRAJECTORY_ROLLOUT_COSTMAP_MODEL_ 76 virtual double footprintCost(
const geometry_msgs::Point& position,
const std::vector<geometry_msgs::Point>& footprint,
77 double inscribed_radius,
double circumscribed_radius);
87 double lineCost(
int x0,
int x1,
int y0,
int y1)
const;
double lineCost(int x0, int x1, int y0, int y1) const
Rasterizes a line in the costmap grid and checks for collisions.
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.
virtual ~CostmapModel()
Destructor for the world model.
An interface the trajectory controller uses to interact with the world regardless of the underlying w...
double pointCost(int x, int y) const
Checks the cost of a point in the costmap.
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...
CostmapModel(const costmap_2d::Costmap2D &costmap)
Constructor for the CostmapModel.