Classes | Functions
navfn Namespace Reference

Classes

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  NavfnWithCostmap
class  NavWin
struct  PotarrPoint

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)

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:
costmapCost map array, of type COSTTYPE; origin is upper left NOTE: will be modified to have a border of obstacle costs
nxWidth of map in cells
nyHeight of map in cells
goalX,Y position of goal cell
startX,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.



navfn
Author(s): Kurt Konolige, Eitan Marder-Eppstein, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:50