An interface the trajectory controller uses to interact with the world regardless of the underlying world model.
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#include <world_model.h>
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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...
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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...
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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) |
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virtual | ~WorldModel () |
| Subclass will implement a destructor. More...
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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.
◆ ~WorldModel()
virtual base_local_planner::WorldModel::~WorldModel |
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inlinevirtual |
Subclass will implement a destructor.
Definition at line 142 of file world_model.h.
◆ WorldModel()
base_local_planner::WorldModel::WorldModel |
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◆ footprintCost() [1/3]
virtual double base_local_planner::WorldModel::footprintCost |
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const geometry_msgs::Point & |
position, |
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const std::vector< geometry_msgs::Point > & |
footprint, |
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double |
inscribed_radius, |
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double |
circumscribed_radius |
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pure virtual |
Subclass will implement this method to check a footprint at a given position and orientation for legality in the world.
- Parameters
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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 |
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const geometry_msgs::Point & |
position, |
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const std::vector< geometry_msgs::Point > & |
footprint, |
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double |
inscribed_radius, |
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double |
circumscribed_radius, |
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double |
extra |
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inline |
Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid.
- Parameters
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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 |
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double |
x, |
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double |
y, |
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double |
theta, |
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const std::vector< geometry_msgs::Point > & |
footprint_spec, |
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double |
inscribed_radius = 0.0 , |
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double |
circumscribed_radius = 0.0 |
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inline |
The documentation for this class was generated from the following file: