Differentiable wrapper around the standard 2-D distance-to-obstacle costmap. More...

Public Member Functions
float	cellSize () const noexcept

	Costmap2DWrapper (const armarx::navigation::algorithms::Costmap &map)

template<typename T>
bool	operator() (const T const x_ptr, const T const y_ptr, T *out_cost) const

Detailed Description

Differentiable wrapper around the standard 2-D distance-to-obstacle costmap.

Provides bilinear interpolation in (x, y) for Ceres AutoDiff, with a resolution-aware conservative correction:

the interpolated distance is reduced by cellSize/2 to account for the fact that the true obstacle boundary can be up to half a cell away from the stored cell-center distance;
if any of the four contributing cells is a collision cell (value <= 0), the result is capped at -cellSize/2 so the optimizer never sees a falsely positive clearance.

Definition at line 47 of file Costmap2DWrapper.h.

Constructor & Destructor Documentation

Costmap2DWrapper ( const armarx::navigation::algorithms::Costmap & map )

inlineexplicit

Definition at line 50 of file Costmap2DWrapper.h.

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float cellSize ( ) const

inlinenoexcept

Definition at line 143 of file Costmap2DWrapper.h.

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template<typename T>

inline

Definition at line 56 of file Costmap2DWrapper.h.

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