Function nav2_smac_planner::findCircumscribedCost

• Defined in File utils.hpp

Function Documentation

inline double nav2_smac_planner::findCircumscribedCost(std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap)

Find the min cost of the inflation decay function for which the robot MAY be in collision in any orientation.

Parameters:

costmap – Costmap2DROS to get minimum inscribed cost (e.g. 128 in inflation layer documentation)

Returns:

double circumscribed cost, any higher than this and need to do full footprint collision checking since some element of the robot could be in collision