base_local_planner: obstacle_cost_function.h File Reference

#include <base_local_planner/trajectory_cost_function.h>
#include <base_local_planner/costmap_model.h>
#include <costmap_2d/costmap_2d.h>

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Classes
class	base_local_planner::ObstacleCostFunction
	Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory. More...

Classes