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Costmap3DBuilder Class Reference

#include <armarx/navigation/algorithms/orientation_aware/Costmap3DBuilder.h>

Classes

struct  Costmap3DBuilderParams
 
struct  DebugOutput2D
 

Public Member Functions

 Costmap3DBuilder (const VirtualRobot::RobotPtr &robot, const VirtualRobot::SceneObjectSetPtr &obstacles, const std::vector< VirtualRobot::RobotPtr > &articulatedObjects, const std::vector< Room > &rooms, const Costmap3D::Parameters &parameters, const std::string &robotCollisonModelName, const Costmap3DBuilderParams &builderParameters)
 
Costmap3D create (const SceneBounds &init=SceneBounds())
 
Costmap3D extend (Costmap costmap)
 
std::optional< DebugOutput2D > getDebugOutput2D ()
 

Static Public Member Functions

static Costmap3D::Grid createUniformGrid (const SceneBounds &sceneBounds, const Costmap3D::Parameters &parameters)
 
static Eigen::MatrixXf createUniformGridSingleOrientation (const SceneBounds &sceneBounds, const Costmap3D::Parameters &parameters)
 
static void initializeMask (Costmap3D &costmap)
 

Detailed Description

Definition at line 46 of file Costmap3DBuilder.h.

Constructor & Destructor Documentation

◆ Costmap3DBuilder()

Costmap3DBuilder ( const VirtualRobot::RobotPtr & robot,
const VirtualRobot::SceneObjectSetPtr & obstacles,
const std::vector< VirtualRobot::RobotPtr > & articulatedObjects,
const std::vector< Room > & rooms,
const Costmap3D::Parameters & parameters,
const std::string & robotCollisonModelName,
const Costmap3DBuilderParams & builderParameters )

Definition at line 57 of file Costmap3DBuilder.cpp.

Member Function Documentation

◆ create()

Costmap3D create ( const SceneBounds & init = SceneBounds())

Definition at line 203 of file Costmap3DBuilder.cpp.

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◆ createUniformGrid()

Costmap3D::Grid createUniformGrid ( const SceneBounds & sceneBounds,
const Costmap3D::Parameters & parameters )
static

Definition at line 289 of file Costmap3DBuilder.cpp.

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◆ createUniformGridSingleOrientation()

Eigen::MatrixXf createUniformGridSingleOrientation ( const SceneBounds & sceneBounds,
const Costmap3D::Parameters & parameters )
static

Definition at line 303 of file Costmap3DBuilder.cpp.

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◆ extend()

Costmap3D extend ( Costmap costmap)

Definition at line 162 of file Costmap3DBuilder.cpp.

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◆ getDebugOutput2D()

std::optional< Costmap3DBuilder::DebugOutput2D > getDebugOutput2D ( )

Definition at line 271 of file Costmap3DBuilder.cpp.

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◆ initializeMask()

void initializeMask ( Costmap3D & costmap)
static

Definition at line 260 of file Costmap3DBuilder.cpp.

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