nav2_route::GoalIntentSearch::LoSCollisionChecker Class Reference

Public Member Functions
	LoSCollisionChecker (std::shared_ptr< nav2_costmap_2d::Costmap2D > costmap)
	Constructor. More...
	~LoSCollisionChecker ()=default
	Destructor.
bool	worldToMap (const geometry_msgs::msg::Point &start, const geometry_msgs::msg::Point &end)
	Find the line segment in cosmap frame. More...
bool	isInCollision ()
	Check if the line segment is in collision with the costmap. More...

Protected Attributes
std::shared_ptr< nav2_costmap_2d::Costmap2D >	costmap_
unsigned int	x0_
unsigned int	x1_
unsigned int	y0_
unsigned int	y1_

Detailed Description

Definition at line 210 of file goal_intent_search.hpp.

Constructor & Destructor Documentation

LoSCollisionChecker()

nav2_route::GoalIntentSearch::LoSCollisionChecker::LoSCollisionChecker ( std::shared_ptr< nav2_costmap_2d::Costmap2D >  costmap )

inlineexplicit

Constructor.

Parameters

costmap

Costmap to check

Definition at line 217 of file goal_intent_search.hpp.

Member Function Documentation

isInCollision()

bool nav2_route::GoalIntentSearch::LoSCollisionChecker::isInCollision ( )

inline

Check if the line segment is in collision with the costmap.

Returns

True if the line segment is in collision, false otherwise

Definition at line 247 of file goal_intent_search.hpp.

References nav2_util::LineIterator::advance(), nav2_util::LineIterator::getX(), nav2_util::LineIterator::getY(), and nav2_util::LineIterator::isValid().

Referenced by nav2_route::GoalIntentExtractor::findStartandGoal().

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worldToMap()

bool nav2_route::GoalIntentSearch::LoSCollisionChecker::worldToMap ( const geometry_msgs::msg::Point &  start, const geometry_msgs::msg::Point &  end  )

inline

Find the line segment in cosmap frame.

Parameters

start	Start point
end	End point

Returns

True if the line segment is on the costmap, false otherwise

Definition at line 233 of file goal_intent_search.hpp.

Referenced by nav2_route::GoalIntentExtractor::findStartandGoal().

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

• nav2_route/include/nav2_route/goal_intent_search.hpp