An interface the trajectory controller uses to interact with the world regardless of the underlying world model. More...

#include <world_model.h>

Inheritance diagram for base_local_planner::WorldModel:

[legend]

Public Member Functions
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 legality in the world. More...

double	footprintCost (const geometry_msgs::Point &position, const std::vector< geometry_msgs::Point > &footprint, double inscribed_radius, double circumscribed_radius, double extra)
	Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid. More...

double	footprintCost (double x, double y, double theta, const std::vector< geometry_msgs::Point > &footprint_spec, double inscribed_radius=0.0, double circumscribed_radius=0.0)

virtual	~WorldModel ()
	Subclass will implement a destructor. More...

Protected Member Functions
	WorldModel ()

Detailed Description

An interface the trajectory controller uses to interact with the world regardless of the underlying world model.

Definition at line 87 of file world_model.h.

Constructor & Destructor Documentation

◆ ~WorldModel()

virtual base_local_planner::WorldModel::~WorldModel ( )

inlinevirtual

Subclass will implement a destructor.

Definition at line 142 of file world_model.h.

◆ WorldModel()

base_local_planner::WorldModel::WorldModel ( )

inlineprotected

Definition at line 145 of file world_model.h.

Member Function Documentation

◆ footprintCost() [1/3]

virtual double base_local_planner::WorldModel::footprintCost	(	const geometry_msgs::Point &	position,
		const std::vector< geometry_msgs::Point > &	footprint,
		double	inscribed_radius,
		double	circumscribed_radius
	)

pure virtual

Subclass will implement this method to check a footprint at a given position and orientation for legality in the world.

Parameters

position	The position of the robot in world coordinates
footprint	The specification of the footprint of the robot in world coordinates
inscribed_radius	The radius of the inscribed circle of the robot
circumscribed_radius	The radius of the circumscribed circle of the robot

Returns: Positive if all the points lie outside the footprint, negative otherwise: -1 if footprint covers at least a lethal obstacle cell, or -2 if footprint covers at least a no-information cell, or -3 if footprint is partially or totally outside of the map

Implemented in base_local_planner::PointGrid, base_local_planner::VoxelGridModel, and base_local_planner::CostmapModel.

◆ footprintCost() [2/3]

double base_local_planner::WorldModel::footprintCost	(	const geometry_msgs::Point &	position,
		const std::vector< geometry_msgs::Point > &	footprint,
		double	inscribed_radius,
		double	circumscribed_radius,
		double	extra
	)

inline

Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid.

Parameters

position	The position of the robot in world coordinates
footprint	The specification of the footprint of the robot in world coordinates
inscribed_radius	The radius of the inscribed circle of the robot
circumscribed_radius	The radius of the circumscribed circle of the robot

Returns: Positive if all the points lie outside the footprint, negative otherwise

Definition at line 134 of file world_model.h.

◆ footprintCost() [3/3]

double base_local_planner::WorldModel::footprintCost	(	double	x,
		double	y,
		double	theta,
		const std::vector< geometry_msgs::Point > &	footprint_spec,
		double	inscribed_radius = `0.0`,
		double	circumscribed_radius = `0.0`
	)

inline

Definition at line 103 of file world_model.h.

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

world_model.h

Public Member Functions

Protected Member Functions