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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
 

Member Enumeration Documentation

◆ DistanceCalculator

enum class DistanceCalculator
strong
Enumerator
Simox 
SimoxControl 

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 )

Member Function Documentation

◆ create()

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

◆ createUniformGrid()

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

◆ extend()

Costmap extend ( Costmap costmap)

◆ updateMask()

void updateMask ( Costmap & costmap)
static

Member Data Documentation

◆ DistanceCalculatorNames

const simox::meta::EnumNames< CostmapBuilder::DistanceCalculator > DistanceCalculatorNames
static
Initial value:
{
{CostmapBuilder::DistanceCalculator::SimoxControl, "SimoxControl"},
{CostmapBuilder::DistanceCalculator::Simox, "Simox"}}
The documentation for this class was generated from the following files: