easy_costmap.h
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34 
35 #ifndef GLOBAL_PLANNER_TESTS_EASY_COSTMAP_H
36 #define GLOBAL_PLANNER_TESTS_EASY_COSTMAP_H
37 
39 #include <nav_msgs/OccupancyGrid.h>
40 #include <string>
41 
43 {
49 {
50 public:
57  explicit EasyCostmap(const std::string& filename, const double resolution = 0.1, const bool origin_at_center = false);
58 
62  EasyCostmap() { reset(); }
63 
64  // NavGrid Interface
65  void reset() override;
66 
67  // Main Image Loading Logic
68  void loadMapFromFile(const std::string& filename, const double resolution = 0.1, const bool origin_at_center = false);
69 
70 protected:
71  nav_msgs::OccupancyGrid original_grid_;
72 }; // class EasyCostmap
73 } // namespace global_planner_tests
74 
75 #endif // GLOBAL_PLANNER_TESTS_EASY_COSTMAP_H
filename
nav_msgs::OccupancyGrid original_grid_
Definition: easy_costmap.h:71
An instantiation of the Costmap class that simply populates the grid from an image.
Definition: easy_costmap.h:48
EasyCostmap()
Empty constructor. You need to call loadMapFromFile afterward.
Definition: easy_costmap.h:62
void loadMapFromFile(const std::string &filename, const double resolution=0.1, const bool origin_at_center=false)


global_planner_tests
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autogenerated on Sun Jan 10 2021 04:08:30