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 ::navfn::MakeNavPlanRequest_<std::allocator<void> > navfn::MakeNavPlanRequest |
Definition at line 54 of file MakeNavPlan.h.
| typedef boost::shared_ptr< ::navfn::MakeNavPlanRequest const> navfn::MakeNavPlanRequestConstPtr |
Definition at line 57 of file MakeNavPlan.h.
| typedef boost::shared_ptr< ::navfn::MakeNavPlanRequest> navfn::MakeNavPlanRequestPtr |
Definition at line 56 of file MakeNavPlan.h.
| typedef ::navfn::MakeNavPlanResponse_<std::allocator<void> > navfn::MakeNavPlanResponse |
Definition at line 93 of file MakeNavPlan.h.
| typedef boost::shared_ptr< ::navfn::MakeNavPlanResponse const> navfn::MakeNavPlanResponseConstPtr |
Definition at line 96 of file MakeNavPlan.h.
| typedef boost::shared_ptr< ::navfn::MakeNavPlanResponse> navfn::MakeNavPlanResponsePtr |
Definition at line 95 of file MakeNavPlan.h.
| typedef ::navfn::SetCostmapRequest_<std::allocator<void> > navfn::SetCostmapRequest |
Definition at line 56 of file SetCostmap.h.
| typedef boost::shared_ptr< ::navfn::SetCostmapRequest const> navfn::SetCostmapRequestConstPtr |
Definition at line 59 of file SetCostmap.h.
| typedef boost::shared_ptr< ::navfn::SetCostmapRequest> navfn::SetCostmapRequestPtr |
Definition at line 58 of file SetCostmap.h.
| typedef ::navfn::SetCostmapResponse_<std::allocator<void> > navfn::SetCostmapResponse |
Definition at line 80 of file SetCostmap.h.
| typedef boost::shared_ptr< ::navfn::SetCostmapResponse const> navfn::SetCostmapResponseConstPtr |
Definition at line 83 of file SetCostmap.h.
| typedef boost::shared_ptr< ::navfn::SetCostmapResponse> navfn::SetCostmapResponsePtr |
Definition at line 82 of file SetCostmap.h.
| int navfn::create_nav_plan_astar | ( | COSTTYPE * | costmap, |
| int | nx, | ||
| int | ny, | ||
| int * | goal, | ||
| int * | start, | ||
| float * | plan, | ||
| int | nplan | ||
| ) |
| int navfn::create_nav_plan_astar | ( | const COSTTYPE * | costmap, |
| int | nx, | ||
| int | ny, | ||
| int * | goal, | ||
| int * | start, | ||
| float * | plan, | ||
| int | nplan | ||
| ) |
Navigation function call.
| 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.