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base_local_planner::WorldModel Class Reference

An interface the trajectory controller uses to interact with the world regardless of the underlying world model. More...

#include <world_model.h>

Inheritance diagram for base_local_planner::WorldModel:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual double footprintCost (const geometry_msgs::Point &position, const std::vector< geometry_msgs::Point > &footprint, double inscribed_radius, double circumscribed_radius)=0
 Subclass will implement this method to check a footprint at a given position and orientation for legality in the world.
virtual ~WorldModel ()
 Subclass will implement a destructor.

Protected Member Functions

 WorldModel ()

Detailed Description

An interface the trajectory controller uses to interact with the world regardless of the underlying world model.

Definition at line 51 of file world_model.h.


Constructor & Destructor Documentation

virtual base_local_planner::WorldModel::~WorldModel (  )  [inline, virtual]

Subclass will implement a destructor.

Definition at line 67 of file world_model.h.

base_local_planner::WorldModel::WorldModel (  )  [inline, protected]

Definition at line 70 of file world_model.h.


Member Function Documentation

virtual double base_local_planner::WorldModel::footprintCost ( const geometry_msgs::Point position,
const std::vector< geometry_msgs::Point > &  footprint,
double  inscribed_radius,
double  circumscribed_radius 
) [pure virtual]

Subclass will implement this method to check a footprint at a given position and orientation for legality in the world.

Parameters:
position The position of the robot in world coordinates
footprint The specification of the footprint of the robot in world coordinates
inscribed_radius The radius of the inscribed circle of the robot
circumscribed_radius The radius of the circumscribed circle of the robot
Returns:
Positive if all the points lie outside the footprint, negative otherwise

Implemented in base_local_planner::CostmapModel, base_local_planner::PointGrid, and base_local_planner::VoxelGridModel.


The documentation for this class was generated from the following file:
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base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko
autogenerated on Fri Mar 1 16:10:19 2013