Public Member Functions | List of all members
base_local_planner::FootprintHelper Class Reference

#include <footprint_helper.h>

Public Member Functions

 FootprintHelper ()
 
void getFillCells (std::vector< base_local_planner::Position2DInt > &footprint)
 Fill the outline of a polygon, in this case the robot footprint, in a grid. More...
 
std::vector< base_local_planner::Position2DInt > getFootprintCells (Eigen::Vector3f pos, std::vector< geometry_msgs::Point > footprint_spec, const costmap_2d::Costmap2D &, bool fill)
 Used to get the cells that make up the footprint of the robot. More...
 
void getLineCells (int x0, int x1, int y0, int y1, std::vector< base_local_planner::Position2DInt > &pts)
 Use Bresenham's algorithm to trace a line between two points in a grid. More...
 
virtual ~FootprintHelper ()
 

Detailed Description

Definition at line 85 of file footprint_helper.h.

Constructor & Destructor Documentation

◆ FootprintHelper()

base_local_planner::FootprintHelper::FootprintHelper ( )

Definition at line 77 of file footprint_helper.cpp.

◆ ~FootprintHelper()

base_local_planner::FootprintHelper::~FootprintHelper ( )
virtual

Definition at line 82 of file footprint_helper.cpp.

Member Function Documentation

◆ getFillCells()

void base_local_planner::FootprintHelper::getFillCells ( std::vector< base_local_planner::Position2DInt > &  footprint)

Fill the outline of a polygon, in this case the robot footprint, in a grid.

Parameters
footprintThe list of cells making up the footprint in the grid, will be modified to include all cells inside the footprint

Definition at line 158 of file footprint_helper.cpp.

◆ getFootprintCells()

std::vector< base_local_planner::Position2DInt > base_local_planner::FootprintHelper::getFootprintCells ( Eigen::Vector3f  pos,
std::vector< geometry_msgs::Point footprint_spec,
const costmap_2d::Costmap2D costmap,
bool  fill 
)

Used to get the cells that make up the footprint of the robot.

Parameters
x_iThe x position of the robot
y_iThe y position of the robot
theta_iThe orientation of the robot
fillIf true: returns all cells in the footprint of the robot. If false: returns only the cells that make up the outline of the footprint.
Returns
The cells that make up either the outline or entire footprint of the robot depending on fill

get the cellsof a footprint at a given position

Definition at line 215 of file footprint_helper.cpp.

◆ getLineCells()

void base_local_planner::FootprintHelper::getLineCells ( int  x0,
int  x1,
int  y0,
int  y1,
std::vector< base_local_planner::Position2DInt > &  pts 
)

Use Bresenham's algorithm to trace a line between two points in a grid.

Parameters
x0The x coordinate of the first point
x1The x coordinate of the second point
y0The y coordinate of the first point
y1The y coordinate of the second point
ptsWill be filled with the cells that lie on the line in the grid

Definition at line 86 of file footprint_helper.cpp.


The documentation for this class was generated from the following files:


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Mon Mar 6 2023 03:50:24