Fawkes API  Fawkes Development Version
fawkes::ColliObstacleMap Class Reference

This is an implementation of a collection of fast obstacles. More...

#include <>>

Public Member Functions

 ColliObstacleMap (colli_cell_cost_t cell_costs, bool is_rectangle=false)
 Constructor. More...
 
const std::vector< int > get_obstacle (int width, int height, bool obstacle_increasement=true)
 Get the occupied cells that match a given obstacle. More...
 

Detailed Description

This is an implementation of a collection of fast obstacles.

Definition at line 42 of file obstacle_map.h.

Constructor & Destructor Documentation

◆ ColliObstacleMap()

fawkes::ColliObstacleMap::ColliObstacleMap ( colli_cell_cost_t  cell_costs,
bool  is_rectangle = false 
)
inline

Constructor.

Parameters
cell_costsstruct containing the occ-grid cell costs
is_rectangleDefines if obstacles are rectangles or ellipses(=default).

Definition at line 61 of file obstacle_map.h.

Member Function Documentation

◆ get_obstacle()

const std::vector< int > fawkes::ColliObstacleMap::get_obstacle ( int  width,
int  height,
bool  obstacle_increasement = true 
)
inline

Get the occupied cells that match a given obstacle.

Parameters
widthThe width of the obstacle
heightThe height of the obstacle
obstacle_increasementEnable obstacle increasement?
Returns
vector with pairwise cell coordinates (x,y), that are occupied by such an obstacle

Definition at line 74 of file obstacle_map.h.

References fawkes::ColliFastObstacle::get_obstacle(), and fawkes::ColliFastObstacle::set_key().

Referenced by fawkes::LaserOccupancyGrid::get_cell_costs().


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