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38 #ifndef OBSTACLE_COST_FUNCTION_H_
39 #define OBSTACLE_COST_FUNCTION_H_
53 class ObstacleCostFunction :
public TrajectoryCostFunction {
64 void setParams(
double max_trans_vel,
double max_scaling_factor,
double scaling_speed);
65 void setFootprint(std::vector<geometry_msgs::Point> footprint_spec);
68 static double getScalingFactor(Trajectory &traj,
double scaling_speed,
double max_trans_vel,
double max_scaling_factor);
74 std::vector<geometry_msgs::Point> footprint_spec,
double scoreTrajectory(Trajectory &traj)
void setSumScores(bool score_sums)
costmap_2d::Costmap2D * costmap_
void setFootprint(std::vector< geometry_msgs::Point > footprint_spec)
void setParams(double max_trans_vel, double max_scaling_factor, double scaling_speed)
std::vector< geometry_msgs::Point > footprint_spec_
base_local_planner::WorldModel * world_model_
An interface the trajectory controller uses to interact with the world regardless of the underlying w...
ObstacleCostFunction(costmap_2d::Costmap2D *costmap)
double max_scaling_factor_
static double getScalingFactor(Trajectory &traj, double scaling_speed, double max_trans_vel, double max_scaling_factor)
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)
base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Mon Mar 6 2023 03:50:24