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navfn Namespace Reference

Namespaces

namespace  srv

Classes

struct  MakeNavPlan
struct  MakeNavPlanRequest_
struct  MakeNavPlanResponse_
class  NavFn
 Navigation function class. Holds buffers for costmap, navfn map. Maps are pixel-based. Origin is upper left, x is right, y is down. More...
class  NavfnROS
 Provides a ROS wrapper for the navfn planner which runs a fast, interpolated navigation function on a costmap. More...
class  NavfnWithLocalCostmap
class  NavWin
struct  PotarrPoint
struct  SetCostmap
struct  SetCostmapRequest_
struct  SetCostmapResponse_

Typedefs

typedef
::navfn::MakeNavPlanRequest_
< std::allocator< void > > 
MakeNavPlanRequest
typedef boost::shared_ptr
< ::navfn::MakeNavPlanRequest
const > 
MakeNavPlanRequestConstPtr
typedef boost::shared_ptr
< ::navfn::MakeNavPlanRequest
MakeNavPlanRequestPtr
typedef
::navfn::MakeNavPlanResponse_
< std::allocator< void > > 
MakeNavPlanResponse
typedef boost::shared_ptr
< ::navfn::MakeNavPlanResponse
const > 
MakeNavPlanResponseConstPtr
typedef boost::shared_ptr
< ::navfn::MakeNavPlanResponse
MakeNavPlanResponsePtr
typedef
::navfn::SetCostmapRequest_
< std::allocator< void > > 
SetCostmapRequest
typedef boost::shared_ptr
< ::navfn::SetCostmapRequest
const > 
SetCostmapRequestConstPtr
typedef boost::shared_ptr
< ::navfn::SetCostmapRequest
SetCostmapRequestPtr
typedef
::navfn::SetCostmapResponse_
< std::allocator< void > > 
SetCostmapResponse
typedef boost::shared_ptr
< ::navfn::SetCostmapResponse
const > 
SetCostmapResponseConstPtr
typedef boost::shared_ptr
< ::navfn::SetCostmapResponse
SetCostmapResponsePtr

Functions

int create_nav_plan_astar (COSTTYPE *costmap, int nx, int ny, int *goal, int *start, float *plan, int nplan)
int create_nav_plan_astar (const COSTTYPE *costmap, int nx, int ny, int *goal, int *start, float *plan, int nplan)

Typedef Documentation

typedef ::navfn::MakeNavPlanRequest_<std::allocator<void> > navfn::MakeNavPlanRequest

Definition at line 155 of file MakeNavPlan.h.

typedef boost::shared_ptr< ::navfn::MakeNavPlanRequest const> navfn::MakeNavPlanRequestConstPtr

Definition at line 158 of file MakeNavPlan.h.

Definition at line 157 of file MakeNavPlan.h.

typedef ::navfn::MakeNavPlanResponse_<std::allocator<void> > navfn::MakeNavPlanResponse

Definition at line 306 of file MakeNavPlan.h.

Definition at line 309 of file MakeNavPlan.h.

Definition at line 308 of file MakeNavPlan.h.

typedef ::navfn::SetCostmapRequest_<std::allocator<void> > navfn::SetCostmapRequest

Definition at line 119 of file SetCostmap.h.

typedef boost::shared_ptr< ::navfn::SetCostmapRequest const> navfn::SetCostmapRequestConstPtr

Definition at line 122 of file SetCostmap.h.

Definition at line 121 of file SetCostmap.h.

typedef ::navfn::SetCostmapResponse_<std::allocator<void> > navfn::SetCostmapResponse

Definition at line 189 of file SetCostmap.h.

typedef boost::shared_ptr< ::navfn::SetCostmapResponse const> navfn::SetCostmapResponseConstPtr

Definition at line 192 of file SetCostmap.h.

Definition at line 191 of file SetCostmap.h.


Function Documentation

int navfn::create_nav_plan_astar ( COSTTYPE *  costmap,
int  nx,
int  ny,
int *  goal,
int *  start,
float *  plan,
int  nplan 
)

Definition at line 58 of file navfn.cpp.

int navfn::create_nav_plan_astar ( const COSTTYPE *  costmap,
int  nx,
int  ny,
int *  goal,
int *  start,
float *  plan,
int  nplan 
)

Navigation function call.

Parameters:
costmap Cost map array, of type COSTTYPE; origin is upper left NOTE: will be modified to have a border of obstacle costs
nx Width of map in cells
ny Height of map in cells
goal X,Y position of goal cell
start X,Y position of start cell

Returns length of plan if found, and fills an array with x,y interpolated positions at about 1/2 cell resolution; else returns 0.

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navfn
Author(s): Kurt Konolige, Eitan Marder-Eppstein
autogenerated on Fri Mar 1 16:10:49 2013