C++ API

Class Hierarchy

• • Namespace nav2_constrained_smoother
    • Struct OptimizerParams
    • Struct SmootherCostFunction
    • Struct SmootherParams
    • Class ConstrainedSmoother
    • Class Smoother
  • Struct OptimizerParams
  • Struct SmootherParams
  • Class Smoother

File Hierarchy

• • Directory include
    • Directory nav2_constrained_smoother
      • File constrained_smoother.hpp
      • File options.hpp
      • File smoother.hpp
      • File smoother_cost_function.hpp
      • File utils.hpp

Full C++ API

Namespaces

• Namespace nav2_constrained_smoother

• Namespace nav2_core

Classes and Structs

• Struct OptimizerParams

• Struct SmootherCostFunction

• Struct SmootherParams

• Struct OptimizerParams

• Struct SmootherParams

• Class ConstrainedSmoother

• Class Smoother

• Class Smoother

Functions

• Template Function nav2_constrained_smoother::arcCenter

• Template Function nav2_constrained_smoother::tangentDir

Defines

• Define CERES_ISINF

• Define EPSILON

Directories

• Directory include

• Directory nav2_constrained_smoother

Files

• File constrained_smoother.hpp

• File options.hpp

• File smoother.hpp

• File smoother_cost_function.hpp

• File utils.hpp