CostmapBuilder Class Reference

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

Classes
struct	CostmapBuilderParams

Public Types
enum class	DistanceCalculator { Simox , SimoxControl }

Public Member Functions
	CostmapBuilder (const VirtualRobot::RobotPtr &robot, const VirtualRobot::SceneObjectSetPtr &obstacles, const std::vector< VirtualRobot::RobotPtr > &articulatedObjects, const std::vector< Room > &rooms, const Costmap::Parameters &parameters, const std::string &robotCollisonModelName, const CostmapBuilderParams &builderParameters)
Costmap	create (const SceneBounds &init=SceneBounds())
Costmap	extend (Costmap costmap)

Static Public Member Functions
static Eigen::MatrixXf	createUniformGrid (const SceneBounds &sceneBounds, const Costmap::Parameters &parameters)
static void	updateMask (Costmap &costmap)

Static Public Attributes
static const simox::meta::EnumNames< DistanceCalculator >	DistanceCalculatorNames

Detailed Description

Definition at line 49 of file CostmapBuilder.h.

Member Enumeration Documentation

DistanceCalculator

enum class DistanceCalculator

strong

Enumerator
Simox
SimoxControl

Definition at line 52 of file CostmapBuilder.h.

Constructor & Destructor Documentation

CostmapBuilder()

CostmapBuilder	(	const VirtualRobot::RobotPtr &	robot,
		const VirtualRobot::SceneObjectSetPtr &	obstacles,
		const std::vector< VirtualRobot::RobotPtr > &	articulatedObjects,
		const std::vector< Room > &	rooms,
		const Costmap::Parameters &	parameters,
		const std::string &	robotCollisonModelName,
		const CostmapBuilderParams &	builderParameters )

Definition at line 93 of file CostmapBuilder.cpp.

Member Function Documentation

create()

Costmap create

(

const SceneBounds &

init = SceneBounds()

)

Definition at line 145 of file CostmapBuilder.cpp.

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createUniformGrid()

Eigen::MatrixXf createUniformGrid ( const SceneBounds & sceneBounds, const Costmap::Parameters & parameters )

static

Definition at line 252 of file CostmapBuilder.cpp.

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extend()

Costmap extend

(

Costmap

costmap

)

Definition at line 201 of file CostmapBuilder.cpp.

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updateMask()

void updateMask ( Costmap & costmap )

static

Definition at line 233 of file CostmapBuilder.cpp.

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Member Data Documentation

DistanceCalculatorNames

const simox::meta::EnumNames< CostmapBuilder::DistanceCalculator > DistanceCalculatorNames

static

Initial value:

{
            {CostmapBuilder::DistanceCalculator::SimoxControl, "SimoxControl"},
            {CostmapBuilder::DistanceCalculator::Simox, "Simox"}}

Definition at line 57 of file CostmapBuilder.h.

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

• armarx/navigation/algorithms/CostmapBuilder.h
• armarx/navigation/algorithms/CostmapBuilder.cpp