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| class | HeightDiffLayer |
| | Costmap layer which calculates the height difference to avoid steep regions. More...
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| class | InflationLayer |
| | Costmap layer which inflates around existing lethal vertices. More...
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| class | RidgeLayer |
| | Costmap layer which assigns high costs to ridges. This is useful for dam avoidance in agricultural applications. More...
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| class | RoughnessLayer |
| | Costmap layer which calculates the roughness of the surface. This is useful to differentiate paths from overgrown areas. More...
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| class | SteepnessLayer |
| | Costmap layer which calculates the steepness of the vertices. This is useful to avoid stairs. More...
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