#include <base_local_planner/trajectory_cost_function.h>#include <vector>#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... | |
Namespaces | |
| namespace | base_local_planner |