A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using the costmap. More...
#include <costmap_model.h>
Inheritance diagram for base_local_planner::CostmapModel:
Public Member Functions | |
| CostmapModel (const costmap_2d::Costmap2D &costmap) | |
| Constructor for the CostmapModel. More... | |
| virtual double | footprintCost (const geometry_msgs::Point &position, const std::vector< geometry_msgs::Point > &footprint, double inscribed_radius, double circumscribed_radius) |
| Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid. More... | |
| virtual double | footprintCost (const geometry_msgs::Point &position, const std::vector< geometry_msgs::Point > &footprint, double inscribed_radius, double circumscribed_radius)=0 |
| Subclass will implement this method to check a footprint at a given position and orientation for legality in the world. More... | |
| double | footprintCost (const geometry_msgs::Point &position, const std::vector< geometry_msgs::Point > &footprint, double inscribed_radius, double circumscribed_radius, double extra) |
| Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid. More... | |
| double | footprintCost (double x, double y, double theta, const std::vector< geometry_msgs::Point > &footprint_spec, double inscribed_radius=0.0, double circumscribed_radius=0.0) |
| double | lineCost (int x0, int x1, int y0, int y1) const |
| Rasterizes a line in the costmap grid and checks for collisions. More... | |
| double | pointCost (int x, int y) const |
| Checks the cost of a point in the costmap. More... | |
| virtual | ~CostmapModel () |
| Destructor for the world model. More... | |
 Public Member Functions inherited from base_local_planner::WorldModel | |
| double | footprintCost (const geometry_msgs::Point &position, const std::vector< geometry_msgs::Point > &footprint, double inscribed_radius, double circumscribed_radius, double extra) |
| Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid. More... | |
| double | footprintCost (double x, double y, double theta, const std::vector< geometry_msgs::Point > &footprint_spec, double inscribed_radius=0.0, double circumscribed_radius=0.0) |
| virtual | ~WorldModel () |
| Subclass will implement a destructor. More... | |
Private Attributes | |
| const costmap_2d::Costmap2D & | costmap_ |
| Allows access of costmap obstacle information. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from base_local_planner::WorldModel | |
| WorldModel () | |
Detailed Description
A class that implements the WorldModel interface to provide grid based collision checks for the trajectory controller using the costmap.
Definition at line 85 of file costmap_model.h.
Constructor & Destructor Documentation
◆ CostmapModel()
| base_local_planner::CostmapModel::CostmapModel | ( | const costmap_2d::Costmap2D & | costmap | ) |
Constructor for the CostmapModel.
- Parameters
-
costmap The costmap that should be used
- Returns
Definition at line 45 of file costmap_model.cpp.
◆ ~CostmapModel()
|
inlinevirtual |
Destructor for the world model.
Definition at line 97 of file costmap_model.h.
Member Function Documentation
◆ footprintCost() [1/4]
|
virtual |
Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid.
- Parameters
-
position The position of the robot in world coordinates footprint The specification of the footprint of the robot in world coordinates inscribed_radius The radius of the inscribed circle of the robot circumscribed_radius The radius of the circumscribed circle of the robot
- Returns
- Positive if all the points lie outside the footprint, negative otherwise: -1 if footprint covers at least a lethal obstacle cell, or -2 if footprint covers at least a no-information cell, or -3 if footprint is [partially] outside of the map
Implements base_local_planner::WorldModel.
Definition at line 47 of file costmap_model.cpp.
◆ footprintCost() [2/4]
| virtual double base_local_planner::WorldModel::footprintCost |
Subclass will implement this method to check a footprint at a given position and orientation for legality in the world.
- Parameters
-
position The position of the robot in world coordinates footprint The specification of the footprint of the robot in world coordinates inscribed_radius The radius of the inscribed circle of the robot circumscribed_radius The radius of the circumscribed circle of the robot
- Returns
- Positive if all the points lie outside the footprint, negative otherwise: -1 if footprint covers at least a lethal obstacle cell, or -2 if footprint covers at least a no-information cell, or -3 if footprint is partially or totally outside of the map
◆ footprintCost() [3/4]
|
inline |
Checks if any obstacles in the costmap lie inside a convex footprint that is rasterized into the grid.
- Parameters
-
position The position of the robot in world coordinates footprint The specification of the footprint of the robot in world coordinates inscribed_radius The radius of the inscribed circle of the robot circumscribed_radius The radius of the circumscribed circle of the robot
- Returns
- Positive if all the points lie outside the footprint, negative otherwise
Definition at line 134 of file world_model.h.
◆ footprintCost() [4/4]
|
inline |
Definition at line 103 of file world_model.h.
◆ lineCost()
| double base_local_planner::CostmapModel::lineCost | ( | int | x0, |
| int | x1, | ||
| int | y0, | ||
| int | y1 | ||
| ) | const |
Rasterizes a line in the costmap grid and checks for collisions.
- Parameters
-
x0 The x position of the first cell in grid coordinates y0 The y position of the first cell in grid coordinates x1 The x position of the second cell in grid coordinates y1 The y position of the second cell in grid coordinates
- Returns
- A positive cost for a legal line... negative otherwise
Definition at line 116 of file costmap_model.cpp.
◆ pointCost()
| double base_local_planner::CostmapModel::pointCost | ( | int | x, |
| int | y | ||
| ) | const |
Checks the cost of a point in the costmap.
- Parameters
-
x The x position of the point in cell coordinates y The y position of the point in cell coordinates
- Returns
- A positive cost for a legal point... negative otherwise
Definition at line 134 of file costmap_model.cpp.
Member Data Documentation
◆ costmap_
|
private |
Allows access of costmap obstacle information.
Definition at line 133 of file costmap_model.h.
The documentation for this class was generated from the following files: