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Nav2 Navigation Stack - rolling
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ROS 2 Navigation Stack
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Checker for collision with a footprint on a costmap. More...
#include <nav2_costmap_2d/include/nav2_costmap_2d/footprint_collision_checker.hpp>
Public Member Functions | |
| FootprintCollisionChecker () | |
| A constructor. | |
| FootprintCollisionChecker (CostmapT costmap) | |
| A constructor. | |
| double | footprintCost (const Footprint &footprint) |
| Find the footprint cost in oriented footprint. | |
| double | footprintCostAtPose (double x, double y, double theta, const Footprint &footprint) |
| Find the footprint cost a a post with an unoriented footprint. | |
| double | lineCost (int x0, int x1, int y0, int y1) const |
| Get the cost for a line segment. | |
| bool | worldToMap (double wx, double wy, unsigned int &mx, unsigned int &my) |
| Get the map coordinates from a world point. | |
| double | pointCost (int x, int y) const |
| Get the cost of a point. | |
| void | setCostmap (CostmapT costmap) |
| Set the current costmap object to use for collision detection. | |
| CostmapT | getCostmap () |
| Get the current costmap object. | |
Protected Attributes | |
| CostmapT | costmap_ |
Checker for collision with a footprint on a costmap.
Definition at line 40 of file footprint_collision_checker.hpp.
1.9.1