#include <armarx/navigation/algorithms/CostmapBuilder.h>

Public Attributes
DistanceCalculator	calculationMethod = DistanceCalculator::Simox

Eigen::Vector3f	collisionModelScaleFactor = Eigen::Vector3f::Ones()

bool	fakeModeForTesting = false

float	maxDistance = 2000.F
	All poses that are further away to obstacles are set to this value.

float	maxFilterDistance = 1000.F

int	numThreads = 0

bool	restrictToRooms = false

float	robotFootprintRadius = -1.F

std::vector< std::string >	roomEnableList

Detailed Description

Definition at line 61 of file CostmapBuilder.h.

Member Data Documentation

◆ calculationMethod

DistanceCalculator calculationMethod = DistanceCalculator::Simox

Definition at line 63 of file CostmapBuilder.h.

◆ collisionModelScaleFactor

Eigen::Vector3f collisionModelScaleFactor = Eigen::Vector3f::Ones()

Definition at line 87 of file CostmapBuilder.h.

◆ fakeModeForTesting

bool fakeModeForTesting = false

Definition at line 92 of file CostmapBuilder.h.

◆ maxDistance

float maxDistance = 2000.F

All poses that are further away to obstacles are set to this value.

Definition at line 90 of file CostmapBuilder.h.

◆ maxFilterDistance

float maxFilterDistance = 1000.F

The maximum distance from the costmap to an obstacle to be included for costmap calculation. Every obstacles further away will be discarded.

Definition at line 85 of file CostmapBuilder.h.

◆ numThreads

int numThreads = 0

Definition at line 64 of file CostmapBuilder.h.

◆ restrictToRooms

bool restrictToRooms = false

Definition at line 66 of file CostmapBuilder.h.

◆ robotFootprintRadius

float robotFootprintRadius = -1.F

Robot footprint radius in mm. Only applicable when restrictToRooms is true. When >= 0, cells closer than this distance to a room boundary are excluded. -1 disables the footprint restriction.

Definition at line 79 of file CostmapBuilder.h.

◆ roomEnableList

std::vector<std::string> roomEnableList

Only applicable when restrictToRooms is true. The list of rooms for which the costmap should be generated, leave empty to include all rooms.

Definition at line 72 of file CostmapBuilder.h.

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

armarx/navigation/algorithms/CostmapBuilder.h

Public Attributes