The CollisionDetection class determines whether a given configuration q of the robot will result in a collision with the environment.
More...
#include <collisiondetection.h>
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| CollisionDetection () |
| | Constructor.
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| template<typename T > |
| bool | isTraversable (const T *node) |
| | evaluates whether the configuration is safe More...
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| float | configurationCost (float x, float y, float t) |
| | Calculates the cost of the robot taking a specific configuration q int the World W. More...
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| bool | configurationTest (float x, float y, float t) |
| | Tests whether the configuration q of the robot is in C_free. More...
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void | updateGrid (nav_msgs::OccupancyGrid::Ptr map) |
| | updates the grid with the world map
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The CollisionDetection class determines whether a given configuration q of the robot will result in a collision with the environment.
It is supposed to return a boolean value that returns true for collisions and false in the case of a safe node.
| float HybridAStar::CollisionDetection::configurationCost |
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float |
x, |
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float |
y, |
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float |
t |
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inline |
Calculates the cost of the robot taking a specific configuration q int the World W.
- Parameters
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| x | the x position |
| y | the y position |
| t | the theta angle |
- Returns
- the cost of the configuration q of W(q)
| bool CollisionDetection::configurationTest |
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float |
x, |
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float |
y, |
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float |
t |
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) |
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Tests whether the configuration q of the robot is in C_free.
- Parameters
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| x | the x position |
| y | the y position |
| t | the theta angle |
- Returns
- true if it is in C_free, else false
template<typename T >
| bool HybridAStar::CollisionDetection::isTraversable |
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const T * |
node | ) |
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inline |
evaluates whether the configuration is safe
- Returns
- true if it is traversable, else false
The documentation for this class was generated from the following files:
1.8.6
