Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory. More...
#include <obstacle_cost_function.h>
Public Member Functions | |
| ObstacleCostFunction (costmap_2d::Costmap2D *costmap) | |
| bool | prepare () |
| double | scoreTrajectory (Trajectory &traj) |
| void | setFootprint (std::vector< geometry_msgs::Point > footprint_spec) |
| void | setParams (double max_trans_vel, double max_scaling_factor, double scaling_speed) |
| void | setSumScores (bool score_sums) |
| ~ObstacleCostFunction () | |
 Public Member Functions inherited from base_local_planner::TrajectoryCostFunction | |
| double | getScale () |
| void | setScale (double scale) |
| virtual | ~TrajectoryCostFunction () |
Static Public Member Functions | |
| static double | footprintCost (const double &x, const double &y, const double &th, double scale, std::vector< geometry_msgs::Point > footprint_spec, costmap_2d::Costmap2D *costmap, base_local_planner::WorldModel *world_model) |
| static double | getScalingFactor (Trajectory &traj, double scaling_speed, double max_trans_vel, double max_scaling_factor) |
Private Attributes | |
| costmap_2d::Costmap2D * | costmap_ |
| std::vector< geometry_msgs::Point > | footprint_spec_ |
| double | max_scaling_factor_ |
| double | max_trans_vel_ |
| double | scaling_speed_ |
| bool | sum_scores_ |
| base_local_planner::WorldModel * | world_model_ |
Additional Inherited Members | |
| Protected Member Functions inherited from base_local_planner::TrajectoryCostFunction | |
| TrajectoryCostFunction (double scale=1.0) | |
Detailed Description
Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory.
class ObstacleCostFunction
Definition at line 88 of file obstacle_cost_function.h.
Constructor & Destructor Documentation
◆ ObstacleCostFunction()
| base_local_planner::ObstacleCostFunction::ObstacleCostFunction | ( | costmap_2d::Costmap2D * | costmap | ) |
Definition at line 80 of file obstacle_cost_function.cpp.
◆ ~ObstacleCostFunction()
| base_local_planner::ObstacleCostFunction::~ObstacleCostFunction | ( | ) |
Definition at line 87 of file obstacle_cost_function.cpp.
Member Function Documentation
◆ footprintCost()
|
static |
Definition at line 151 of file obstacle_cost_function.cpp.
◆ getScalingFactor()
|
static |
Definition at line 137 of file obstacle_cost_function.cpp.
◆ prepare()
|
virtual |
General updating of context values if required. Subclasses may overwrite. Return false in case there is any error.
Implements base_local_planner::TrajectoryCostFunction.
Definition at line 105 of file obstacle_cost_function.cpp.
◆ scoreTrajectory()
|
virtual |
return a score for trajectory traj
Implements base_local_planner::TrajectoryCostFunction.
Definition at line 109 of file obstacle_cost_function.cpp.
◆ setFootprint()
| void base_local_planner::ObstacleCostFunction::setFootprint | ( | std::vector< geometry_msgs::Point > | footprint_spec | ) |
Definition at line 101 of file obstacle_cost_function.cpp.
◆ setParams()
| void base_local_planner::ObstacleCostFunction::setParams | ( | double | max_trans_vel, |
| double | max_scaling_factor, | ||
| double | scaling_speed | ||
| ) |
Definition at line 94 of file obstacle_cost_function.cpp.
◆ setSumScores()
|
inline |
Definition at line 132 of file obstacle_cost_function.h.
Member Data Documentation
◆ costmap_
|
private |
Definition at line 149 of file obstacle_cost_function.h.
◆ footprint_spec_
|
private |
Definition at line 150 of file obstacle_cost_function.h.
◆ max_scaling_factor_
|
private |
Definition at line 155 of file obstacle_cost_function.h.
◆ max_trans_vel_
|
private |
Definition at line 152 of file obstacle_cost_function.h.
◆ scaling_speed_
|
private |
Definition at line 155 of file obstacle_cost_function.h.
◆ sum_scores_
|
private |
Definition at line 153 of file obstacle_cost_function.h.
◆ world_model_
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private |
Definition at line 151 of file obstacle_cost_function.h.
The documentation for this class was generated from the following files: