Template Class Costmap2DTranslationTable
Defined in File costmap_2d_converter.hpp
Inheritance Relationships
Derived Types
public grid_map::Costmap2DDefaultTranslationTable< DataType >(Template Class Costmap2DDefaultTranslationTable)public grid_map::Costmap2DDefaultTranslationTable< float >(Template Class Costmap2DDefaultTranslationTable< float >)
Class Documentation
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template<int64_t noInformation, int64_t lethalObstacle, int64_t inscribedInflatedObstacle, int64_t freeSpace>
class Costmap2DTranslationTable Defines the conversion between grid_map and costmap_2d. -> There is only one distinct value for no information in the grid map. -> All values smaller or equal to freeSpace are considered free space (except noInformation). -> All values bigger or equal to lethalObstacle are considered a lethal obstacle (except noInformation). -> All values between inscribedInflatedObstacle and lethalObstacle are considered an inscribed inflated obstacle (except noInformation). -> All other values are interpolated between freeSpace and inscribedInflatedObstacle
- Template Parameters:
noInformation – Gridmap value that represents no information.
lethalObstacle – Gridmap value (lower bound) for lethal obstacles.
inscribedInflatedObstacle – Gridmap value (lower bound) for inscribed inflated obstacles.
freeSpace – Gridmap value (upper bound) for free space.
Subclassed by grid_map::Costmap2DDefaultTranslationTable< DataType >, grid_map::Costmap2DDefaultTranslationTable< float >
Public Functions
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Costmap2DTranslationTable() = delete
Public Static Functions
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template<typename DataType>
static inline void create(std::vector<DataType> &costTranslationTable) Creates a translation table from costmap to grid map. (for backwards compatibility)
- Template Parameters:
DataType – Data type of the grid map.
- Parameters:
costTranslationTable – Translation table mapping from costmap value to grid map value.