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45 bool is_local_goal_function,
48 map_(costmap->getSizeInCellsX(), costmap->getSizeInCellsY()),
49 aggregationType_(aggregationType),
52 is_local_goal_function_(is_local_goal_function),
53 stop_on_failure_(true) {}
71 double grid_dist =
map_(px, py).target_dist;
81 unsigned int cell_x, cell_y;
84 for (
unsigned int i = 0; i < traj.getPointsSize(); ++i) {
85 traj.getPoint(i, px, py, pth);
95 py = py +
yshift_ * sin(pth + M_PI_2);
double getCellCosts(unsigned int cx, unsigned int cy)
double unreachableCellCosts()
std::vector< geometry_msgs::PoseStamped > target_poses_
bool worldToMap(double wx, double wy, unsigned int &mx, unsigned int &my) const
costmap_2d::Costmap2D * costmap_
double scoreTrajectory(Trajectory &traj)
void setTargetPoses(std::vector< geometry_msgs::PoseStamped > target_poses)
CostAggregationType aggregationType_
void setLocalGoal(const costmap_2d::Costmap2D &costmap, const std::vector< geometry_msgs::PoseStamped > &global_plan)
Update what cell is considered the next local goal.
MapGridCostFunction(costmap_2d::Costmap2D *costmap, double xshift=0.0, double yshift=0.0, bool is_local_goal_function=false, CostAggregationType aggregationType=Last)
void resetPathDist()
reset path distance fields for all cells
bool is_local_goal_function_
base_local_planner::MapGrid map_
void setTargetCells(const costmap_2d::Costmap2D &costmap, const std::vector< geometry_msgs::PoseStamped > &global_plan)
Update what cells are considered path based on the global plan.
double xshift_
xshift and yshift allow scoring for different
base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Mon Mar 6 2023 03:50:24