24 #include <VirtualRobot/VirtualRobot.h>
35 const VirtualRobot::SceneObjectSetPtr& obstacles,
36 const std::vector<VirtualRobot::RobotPtr>& articulatedObjects,
38 const std::string& robotCollisonModelName);
48 const VirtualRobot::CollisionModelPtr& robotCollisionModel);
50 void fillGridCosts(
Costmap& costmap);
52 void initializeMask(
Costmap& costmap);
55 const VirtualRobot::SceneObjectSetPtr obstacles;
56 const std::vector<VirtualRobot::RobotPtr> articulatedObjects;
58 const std::string robotCollisionModelName;