base_local_planner::ObstacleCostFunction Class Reference

Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory. More...

#include <obstacle_cost_function.h>

Inheritance diagram for base_local_planner::ObstacleCostFunction:

Public Member Functions
	ObstacleCostFunction (costmap_2d::Costmap2D *costmap)
bool	prepare ()
double	scoreTrajectory (Trajectory &traj)
void	setFootprint (std::vector< geometry_msgs::Point > footprint_spec)
void	setParams (double max_trans_vel, double max_scaling_factor, double scaling_speed)
void	setSumScores (bool score_sums)
	~ObstacleCostFunction ()
Public Member Functions inherited from base_local_planner::TrajectoryCostFunction
double	getScale ()
void	setScale (double scale)
virtual	~TrajectoryCostFunction ()

Static Public Member Functions
static double	footprintCost (const double &x, const double &y, const double &th, double scale, std::vector< geometry_msgs::Point > footprint_spec, costmap_2d::Costmap2D *costmap, base_local_planner::WorldModel *world_model)
static double	getScalingFactor (Trajectory &traj, double scaling_speed, double max_trans_vel, double max_scaling_factor)

Private Attributes
costmap_2d::Costmap2D *	costmap_
std::vector< geometry_msgs::Point >	footprint_spec_
double	max_scaling_factor_
double	max_trans_vel_
double	scaling_speed_
bool	sum_scores_
base_local_planner::WorldModel *	world_model_

Additional Inherited Members
Protected Member Functions inherited from base_local_planner::TrajectoryCostFunction
	TrajectoryCostFunction (double scale=1.0)

Detailed Description

Uses costmap 2d to assign negative costs if robot footprint is in obstacle on any point of the trajectory.

class ObstacleCostFunction

Definition at line 88 of file obstacle_cost_function.h.

Constructor & Destructor Documentation

ObstacleCostFunction()

base_local_planner::ObstacleCostFunction::ObstacleCostFunction

(

costmap_2d::Costmap2D *

costmap

)

Definition at line 80 of file obstacle_cost_function.cpp.

~ObstacleCostFunction()

base_local_planner::ObstacleCostFunction::~ObstacleCostFunction

(

)

Definition at line 87 of file obstacle_cost_function.cpp.

Member Function Documentation

footprintCost()

double base_local_planner::ObstacleCostFunction::footprintCost ( const double &  x, const double &  y, const double &  th, double  scale, std::vector< geometry_msgs::Point >  footprint_spec, costmap_2d::Costmap2D *  costmap, base_local_planner::WorldModel *  world_model  )

static

Definition at line 156 of file obstacle_cost_function.cpp.

getScalingFactor()

double base_local_planner::ObstacleCostFunction::getScalingFactor ( Trajectory &  traj, double  scaling_speed, double  max_trans_vel, double  max_scaling_factor  )

static

Definition at line 142 of file obstacle_cost_function.cpp.

prepare()

bool base_local_planner::ObstacleCostFunction::prepare ( )

virtual

General updating of context values if required. Subclasses may overwrite. Return false in case there is any error.

Implements base_local_planner::TrajectoryCostFunction.

Definition at line 105 of file obstacle_cost_function.cpp.

scoreTrajectory()

double base_local_planner::ObstacleCostFunction::scoreTrajectory ( Trajectory &  traj )

virtual

return a score for trajectory traj

Implements base_local_planner::TrajectoryCostFunction.

Definition at line 109 of file obstacle_cost_function.cpp.

setFootprint()

void base_local_planner::ObstacleCostFunction::setFootprint

(

std::vector< geometry_msgs::Point >

footprint_spec

)

Definition at line 101 of file obstacle_cost_function.cpp.

setParams()

void base_local_planner::ObstacleCostFunction::setParams	(	double	max_trans_vel,
		double	max_scaling_factor,
		double	scaling_speed
	)

Definition at line 94 of file obstacle_cost_function.cpp.

setSumScores()

void base_local_planner::ObstacleCostFunction::setSumScores ( bool  score_sums )

inline

Definition at line 132 of file obstacle_cost_function.h.

Member Data Documentation

costmap_

costmap_2d::Costmap2D* base_local_planner::ObstacleCostFunction::costmap_

private

Definition at line 149 of file obstacle_cost_function.h.

footprint_spec_

std::vector<geometry_msgs::Point> base_local_planner::ObstacleCostFunction::footprint_spec_

private

Definition at line 150 of file obstacle_cost_function.h.

max_scaling_factor_

double base_local_planner::ObstacleCostFunction::max_scaling_factor_

private

Definition at line 155 of file obstacle_cost_function.h.

max_trans_vel_

double base_local_planner::ObstacleCostFunction::max_trans_vel_

private

Definition at line 152 of file obstacle_cost_function.h.

scaling_speed_

double base_local_planner::ObstacleCostFunction::scaling_speed_

private

Definition at line 155 of file obstacle_cost_function.h.

sum_scores_

bool base_local_planner::ObstacleCostFunction::sum_scores_

private

Definition at line 153 of file obstacle_cost_function.h.

world_model_

base_local_planner::WorldModel* base_local_planner::ObstacleCostFunction::world_model_

private

Definition at line 151 of file obstacle_cost_function.h.

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The documentation for this class was generated from the following files:

• obstacle_cost_function.h
• obstacle_cost_function.cpp