base_local_planner::OccupancyVelocityCostFunction Class Reference

Uses costmap 2d to assign negative costs if robot footprint in trajectory crosses a cell in which this velocity is not allowed. More...

#include <occupancy_velocity_cost_function.h>

Inheritance diagram for base_local_planner::OccupancyVelocityCostFunction:

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

Private Attributes
costmap_2d::Costmap2D *	costmap_
std::vector< geometry_msgs::Point >	footprint_spec_
double	max_trans_vel_
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 in trajectory crosses a cell in which this velocity is not allowed.

class OccupancyVelocityCostFunction

Definition at line 21 of file occupancy_velocity_cost_function.h.

Constructor & Destructor Documentation

OccupancyVelocityCostFunction()

base_local_planner::OccupancyVelocityCostFunction::OccupancyVelocityCostFunction

(

costmap_2d::Costmap2D *

costmap

)

Definition at line 14 of file occupancy_velocity_cost_function.cpp.

~OccupancyVelocityCostFunction()

base_local_planner::OccupancyVelocityCostFunction::~OccupancyVelocityCostFunction

(

)

Definition at line 22 of file occupancy_velocity_cost_function.cpp.

Member Function Documentation

prepare()

bool base_local_planner::OccupancyVelocityCostFunction::prepare ( )

inlinevirtual

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 29 of file occupancy_velocity_cost_function.h.

scoreTrajectory()

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

virtual

return a score for trajectory traj

Implements base_local_planner::TrajectoryCostFunction.

Definition at line 30 of file occupancy_velocity_cost_function.cpp.

setFootprint()

void base_local_planner::OccupancyVelocityCostFunction::setFootprint ( const std::vector< geometry_msgs::Point > &  footprint_spec )

inline

Definition at line 33 of file occupancy_velocity_cost_function.h.

setParams()

void base_local_planner::OccupancyVelocityCostFunction::setParams ( double  max_trans_vel )

inline

Definition at line 32 of file occupancy_velocity_cost_function.h.

Member Data Documentation

costmap_

costmap_2d::Costmap2D* base_local_planner::OccupancyVelocityCostFunction::costmap_

private

Definition at line 36 of file occupancy_velocity_cost_function.h.

footprint_spec_

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

private

Definition at line 37 of file occupancy_velocity_cost_function.h.

max_trans_vel_

double base_local_planner::OccupancyVelocityCostFunction::max_trans_vel_

private

Definition at line 39 of file occupancy_velocity_cost_function.h.

world_model_

base_local_planner::WorldModel* base_local_planner::OccupancyVelocityCostFunction::world_model_

private

Definition at line 38 of file occupancy_velocity_cost_function.h.

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

• occupancy_velocity_cost_function.h
• occupancy_velocity_cost_function.cpp