deploy: dff3ac8

Author: fmrico

AStarPlanner_8hpp_source.html

@@ -181,13 +181,13 @@
 <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span><span class="preprocessor">#endif  </span><span class="comment">// EASYNAV_NAVMAP_PLANNER__NAVMAPPLANNER_HPP_</span></div>
 <div class="ttc" id="aclassPlannerMethodBase_html"><div class="ttname"><a href="classPlannerMethodBase.html">PlannerMethodBase</a></div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a1c68c5c1a142a2c320026fa32c39fcc8"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a1c68c5c1a142a2c320026fa32c39fcc8">easynav::navmap::AStarPlanner::centroids_</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector3f &gt; centroids_</div><div class="ttdoc">Cached centroids for each NavCel (same indexing as ::navmap::NavMap::navcels).</div><div class="ttdef"><b>Definition</b> AStarPlanner.hpp:88</div></div>
-<div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a2426d1fc1a06ccf32e590de7df424c58"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a2426d1fc1a06ccf32e590de7df424c58">easynav::navmap::AStarPlanner::ensure_graph_cache</a></div><div class="ttdeci">void ensure_graph_cache(const ::navmap::NavMap &amp;map)</div><div class="ttdoc">Ensure internal caches (centroids and A* buffers) are sized for the given map.</div><div class="ttdef"><b>Definition</b> AStarPlanner.cpp:288</div></div>
-<div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a24ddfd2eba3d3d6a90d492e8d25ff0da"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a24ddfd2eba3d3d6a90d492e8d25ff0da">easynav::navmap::AStarPlanner::update</a></div><div class="ttdeci">void update(NavState &amp;nav_state) override</div><div class="ttdoc">Executes a planning cycle using the current navigation state.</div><div class="ttdef"><b>Definition</b> AStarPlanner.cpp:80</div></div>
+<div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a2426d1fc1a06ccf32e590de7df424c58"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a2426d1fc1a06ccf32e590de7df424c58">easynav::navmap::AStarPlanner::ensure_graph_cache</a></div><div class="ttdeci">void ensure_graph_cache(const ::navmap::NavMap &amp;map)</div><div class="ttdoc">Ensure internal caches (centroids and A* buffers) are sized for the given map.</div><div class="ttdef"><b>Definition</b> AStarPlanner.cpp:289</div></div>
+<div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a24ddfd2eba3d3d6a90d492e8d25ff0da"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a24ddfd2eba3d3d6a90d492e8d25ff0da">easynav::navmap::AStarPlanner::update</a></div><div class="ttdeci">void update(NavState &amp;nav_state) override</div><div class="ttdoc">Executes a planning cycle using the current navigation state.</div><div class="ttdef"><b>Definition</b> AStarPlanner.cpp:81</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a343947e2a1a19001b220b82a30f5b341"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a343947e2a1a19001b220b82a30f5b341">easynav::navmap::AStarPlanner::AStarPlanner</a></div><div class="ttdeci">AStarPlanner()</div><div class="ttdoc">Default constructor.</div><div class="ttdef"><b>Definition</b> AStarPlanner.cpp:54</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a35e94cf5823e535adf42e15573b348d8"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a35e94cf5823e535adf42e15573b348d8">easynav::navmap::AStarPlanner::continuous_replan_</a></div><div class="ttdeci">bool continuous_replan_</div><div class="ttdoc">Whether to replan the path at control frequency.</div><div class="ttdef"><b>Definition</b> AStarPlanner.hpp:80</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a3a0cc9d7035b71dd3eae451181ee896f"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a3a0cc9d7035b71dd3eae451181ee896f">easynav::navmap::AStarPlanner::cost_axial_</a></div><div class="ttdeci">double cost_axial_</div><div class="ttdoc">Cost multiplier for axial (horizontal/vertical) moves.</div><div class="ttdef"><b>Definition</b> AStarPlanner.hpp:77</div></div>
-<div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a3b66055e664a09df54ad4476026e4f03"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a3b66055e664a09df54ad4476026e4f03">easynav::navmap::AStarPlanner::path_smoother</a></div><div class="ttdeci">nav_msgs::msg::Path path_smoother(const nav_msgs::msg::Path &amp;in_path, const ::navmap::NavMap &amp;navmap, int iterations=5, float alpha=0.4f, float corner_keep_deg=0.0f)</div><div class="ttdoc">Smooth a Path in XY while keeping every waypoint inside its original NavCel.</div><div class="ttdef"><b>Definition</b> AStarPlanner.cpp:138</div></div>
-<div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a60dfda8e97c63a20980ba45e8cef575f"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a60dfda8e97c63a20980ba45e8cef575f">easynav::navmap::AStarPlanner::a_star_path</a></div><div class="ttdeci">std::vector&lt; geometry_msgs::msg::Pose &gt; a_star_path(const ::navmap::NavMap &amp;map, const geometry_msgs::msg::Pose &amp;start, const geometry_msgs::msg::Pose &amp;goal)</div><div class="ttdoc">Internal A* path planning routine.</div><div class="ttdef"><b>Definition</b> AStarPlanner.cpp:324</div></div>
+<div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a3b66055e664a09df54ad4476026e4f03"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a3b66055e664a09df54ad4476026e4f03">easynav::navmap::AStarPlanner::path_smoother</a></div><div class="ttdeci">nav_msgs::msg::Path path_smoother(const nav_msgs::msg::Path &amp;in_path, const ::navmap::NavMap &amp;navmap, int iterations=5, float alpha=0.4f, float corner_keep_deg=0.0f)</div><div class="ttdoc">Smooth a Path in XY while keeping every waypoint inside its original NavCel.</div><div class="ttdef"><b>Definition</b> AStarPlanner.cpp:139</div></div>
+<div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a60dfda8e97c63a20980ba45e8cef575f"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a60dfda8e97c63a20980ba45e8cef575f">easynav::navmap::AStarPlanner::a_star_path</a></div><div class="ttdeci">std::vector&lt; geometry_msgs::msg::Pose &gt; a_star_path(const ::navmap::NavMap &amp;map, const geometry_msgs::msg::Pose &amp;start, const geometry_msgs::msg::Pose &amp;goal)</div><div class="ttdoc">Internal A* path planning routine.</div><div class="ttdef"><b>Definition</b> AStarPlanner.cpp:325</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a6aebe3bf30640adc22c8787dea894c8c"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a6aebe3bf30640adc22c8787dea894c8c">easynav::navmap::AStarPlanner::layer_name_</a></div><div class="ttdeci">std::string layer_name_</div><div class="ttdef"><b>Definition</b> AStarPlanner.hpp:79</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a89eb78013dffcbf2780471861a37b90a"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a89eb78013dffcbf2780471861a37b90a">easynav::navmap::AStarPlanner::cost_factor_</a></div><div class="ttdeci">double cost_factor_</div><div class="ttdoc">Scaling factor applied to cell cost values.</div><div class="ttdef"><b>Definition</b> AStarPlanner.hpp:75</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_a8dc6b25f90bfb16f7f1d95b51800aa00"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#a8dc6b25f90bfb16f7f1d95b51800aa00">easynav::navmap::AStarPlanner::current_path_</a></div><div class="ttdeci">nav_msgs::msg::Path current_path_</div><div class="ttdoc">Most recently computed path.</div><div class="ttdef"><b>Definition</b> AStarPlanner.hpp:81</div></div>
@@ -196,7 +196,7 @@
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_aaae83fae4ab4251d4580a3a13cd6dfc7"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#aaae83fae4ab4251d4580a3a13cd6dfc7">easynav::navmap::AStarPlanner::g_</a></div><div class="ttdeci">std::vector&lt; double &gt; g_</div><div class="ttdoc">Reusable buffers for A* search cost and parent links.</div><div class="ttdef"><b>Definition</b> AStarPlanner.hpp:94</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_aae88bf99367ef2892c348393a3ee8f84"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#aae88bf99367ef2892c348393a3ee8f84">easynav::navmap::AStarPlanner::cost_diagonal_</a></div><div class="ttdeci">double cost_diagonal_</div><div class="ttdoc">Cost multiplier for diagonal moves.</div><div class="ttdef"><b>Definition</b> AStarPlanner.hpp:78</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_ac44f0fe3c3f35ae18c498ef6ecb47dd6"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#ac44f0fe3c3f35ae18c498ef6ecb47dd6">easynav::navmap::AStarPlanner::path_pub_</a></div><div class="ttdeci">rclcpp::Publisher&lt; nav_msgs::msg::Path &gt;::SharedPtr path_pub_</div><div class="ttdoc">Publisher for the computed navigation path (for visualization or monitoring).</div><div class="ttdef"><b>Definition</b> AStarPlanner.hpp:85</div></div>
-<div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_ac9d1795b6cf8a4da7bf9b33f783db911"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#ac9d1795b6cf8a4da7bf9b33f783db911">easynav::navmap::AStarPlanner::on_initialize</a></div><div class="ttdeci">virtual void on_initialize() override</div><div class="ttdoc">Initializes the planner.</div><div class="ttdef"><b>Definition</b> AStarPlanner.cpp:65</div></div>
+<div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_ac9d1795b6cf8a4da7bf9b33f783db911"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#ac9d1795b6cf8a4da7bf9b33f783db911">easynav::navmap::AStarPlanner::on_initialize</a></div><div class="ttdeci">virtual void on_initialize() override</div><div class="ttdoc">Initializes the planner.</div><div class="ttdef"><b>Definition</b> AStarPlanner.cpp:66</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_ade3608f9f9cbd5937b6fd0b77718b477"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#ade3608f9f9cbd5937b6fd0b77718b477">easynav::navmap::AStarPlanner::occ_</a></div><div class="ttdeci">std::vector&lt; std::uint8_t &gt; occ_</div><div class="ttdoc">Cached per-NavCel occupancy / cost values (0..255).</div><div class="ttdef"><b>Definition</b> AStarPlanner.hpp:91</div></div>
 <div class="ttc" id="aclasseasynav_1_1navmap_1_1AStarPlanner_html_afa42e78400a5504304ee9b56e2160d5c"><div class="ttname"><a href="classeasynav_1_1navmap_1_1AStarPlanner.html#afa42e78400a5504304ee9b56e2160d5c">easynav::navmap::AStarPlanner::inflation_penalty_</a></div><div class="ttdeci">double inflation_penalty_</div><div class="ttdoc">Extra cost penalty for paths near inflated obstacles.</div><div class="ttdef"><b>Definition</b> AStarPlanner.hpp:76</div></div>
 <div class="ttc" id="anamespaceeasynav_1_1navmap_html"><div class="ttname"><a href="namespaceeasynav_1_1navmap.html">easynav::navmap</a></div><div class="ttdef"><b>Definition</b> AMCLLocalizer.hpp:45</div></div>

CostmapPlanner_8hpp_source.html

@@ -157,16 +157,16 @@
 <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span><span class="preprocessor">#endif  </span><span class="comment">// EASYNAV_COSTMAP_PLANNER__COSTMAPPLANNER_HPP_</span></div>
 <div class="ttc" id="aclassPlannerMethodBase_html"><div class="ttname"><a href="classPlannerMethodBase.html">PlannerMethodBase</a></div></div>
 <div class="ttc" id="aclasseasynav_1_1Costmap2D_html"><div class="ttname"><a href="classeasynav_1_1Costmap2D.html">easynav::Costmap2D</a></div><div class="ttdoc">A 2D costmap provides a mapping between points in the world and their associated &quot;costs&quot;.</div><div class="ttdef"><b>Definition</b> costmap_2d.hpp:66</div></div>
-<div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_a24ddfd2eba3d3d6a90d492e8d25ff0da"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#a24ddfd2eba3d3d6a90d492e8d25ff0da">easynav::CostmapPlanner::update</a></div><div class="ttdeci">void update(NavState &amp;nav_state) override</div><div class="ttdoc">Executes a planning cycle using the current navigation state.</div><div class="ttdef"><b>Definition</b> CostmapPlanner.cpp:144</div></div>
+<div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_a24ddfd2eba3d3d6a90d492e8d25ff0da"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#a24ddfd2eba3d3d6a90d492e8d25ff0da">easynav::CostmapPlanner::update</a></div><div class="ttdeci">void update(NavState &amp;nav_state) override</div><div class="ttdoc">Executes a planning cycle using the current navigation state.</div><div class="ttdef"><b>Definition</b> CostmapPlanner.cpp:145</div></div>
 <div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_a35e94cf5823e535adf42e15573b348d8"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#a35e94cf5823e535adf42e15573b348d8">easynav::CostmapPlanner::continuous_replan_</a></div><div class="ttdeci">bool continuous_replan_</div><div class="ttdoc">Wheter replan path at freq time.</div><div class="ttdef"><b>Definition</b> CostmapPlanner.hpp:74</div></div>
 <div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_a4af8c9ca8afd491cb4741a1e3c636e7b"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#a4af8c9ca8afd491cb4741a1e3c636e7b">easynav::CostmapPlanner::CostmapPlanner</a></div><div class="ttdeci">CostmapPlanner()</div><div class="ttdoc">Default constructor.</div><div class="ttdef"><b>Definition</b> CostmapPlanner.cpp:115</div></div>
 <div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_a4d32de66d943443ddb2dcb34fb16b718"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#a4d32de66d943443ddb2dcb34fb16b718">easynav::CostmapPlanner::heuristic_scale_</a></div><div class="ttdeci">double heuristic_scale_</div><div class="ttdoc">Scaling factor applied to the heuristic term in A*.</div><div class="ttdef"><b>Definition</b> CostmapPlanner.hpp:73</div></div>
 <div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_a89eb78013dffcbf2780471861a37b90a"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#a89eb78013dffcbf2780471861a37b90a">easynav::CostmapPlanner::cost_factor_</a></div><div class="ttdeci">double cost_factor_</div><div class="ttdoc">Scaling factor applied to cell cost values.</div><div class="ttdef"><b>Definition</b> CostmapPlanner.hpp:71</div></div>
 <div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_a8dc6b25f90bfb16f7f1d95b51800aa00"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#a8dc6b25f90bfb16f7f1d95b51800aa00">easynav::CostmapPlanner::current_path_</a></div><div class="ttdeci">nav_msgs::msg::Path current_path_</div><div class="ttdoc">Most recently computed path.</div><div class="ttdef"><b>Definition</b> CostmapPlanner.hpp:75</div></div>
 <div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_aa6594c58e9975c44d0602a32f8b89d96"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#aa6594c58e9975c44d0602a32f8b89d96">easynav::CostmapPlanner::current_goal_</a></div><div class="ttdeci">geometry_msgs::msg::Pose current_goal_</div><div class="ttdoc">Current goal.</div><div class="ttdef"><b>Definition</b> CostmapPlanner.hpp:76</div></div>
 <div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_ac44f0fe3c3f35ae18c498ef6ecb47dd6"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#ac44f0fe3c3f35ae18c498ef6ecb47dd6">easynav::CostmapPlanner::path_pub_</a></div><div class="ttdeci">rclcpp::Publisher&lt; nav_msgs::msg::Path &gt;::SharedPtr path_pub_</div><div class="ttdoc">Publisher for the computed navigation path (for visualization or monitoring).</div><div class="ttdef"><b>Definition</b> CostmapPlanner.hpp:79</div></div>
-<div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_ac9d1795b6cf8a4da7bf9b33f783db911"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#ac9d1795b6cf8a4da7bf9b33f783db911">easynav::CostmapPlanner::on_initialize</a></div><div class="ttdeci">virtual void on_initialize() override</div><div class="ttdoc">Initializes the planner.</div><div class="ttdef"><b>Definition</b> CostmapPlanner.cpp:126</div></div>
-<div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_ad8dd8ff2b3fee4c3dca90b0e2b091d66"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#ad8dd8ff2b3fee4c3dca90b0e2b091d66">easynav::CostmapPlanner::a_star_path</a></div><div class="ttdeci">std::vector&lt; geometry_msgs::msg::Pose &gt; a_star_path(const Costmap2D &amp;map, const geometry_msgs::msg::Pose &amp;start, const geometry_msgs::msg::Pose &amp;goal)</div><div class="ttdoc">Internal A* path planning routine.</div><div class="ttdef"><b>Definition</b> CostmapPlanner.cpp:248</div></div>
+<div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_ac9d1795b6cf8a4da7bf9b33f783db911"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#ac9d1795b6cf8a4da7bf9b33f783db911">easynav::CostmapPlanner::on_initialize</a></div><div class="ttdeci">virtual void on_initialize() override</div><div class="ttdoc">Initializes the planner.</div><div class="ttdef"><b>Definition</b> CostmapPlanner.cpp:127</div></div>
+<div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_ad8dd8ff2b3fee4c3dca90b0e2b091d66"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#ad8dd8ff2b3fee4c3dca90b0e2b091d66">easynav::CostmapPlanner::a_star_path</a></div><div class="ttdeci">std::vector&lt; geometry_msgs::msg::Pose &gt; a_star_path(const Costmap2D &amp;map, const geometry_msgs::msg::Pose &amp;start, const geometry_msgs::msg::Pose &amp;goal)</div><div class="ttdoc">Internal A* path planning routine.</div><div class="ttdef"><b>Definition</b> CostmapPlanner.cpp:260</div></div>
 <div class="ttc" id="aclasseasynav_1_1CostmapPlanner_html_afa42e78400a5504304ee9b56e2160d5c"><div class="ttname"><a href="classeasynav_1_1CostmapPlanner.html#afa42e78400a5504304ee9b56e2160d5c">easynav::CostmapPlanner::inflation_penalty_</a></div><div class="ttdeci">double inflation_penalty_</div><div class="ttdoc">Extra cost penalty for paths near inflated obstacles.</div><div class="ttdef"><b>Definition</b> CostmapPlanner.hpp:72</div></div>
 <div class="ttc" id="acostmap__2d_8hpp_html"><div class="ttname"><a href="costmap__2d_8hpp.html">costmap_2d.hpp</a></div></div>
 <div class="ttc" id="anamespaceeasynav_html"><div class="ttname"><a href="namespaceeasynav.html">easynav</a></div><div class="ttdoc">Provides a mapping for often used cost values.</div><div class="ttdef"><b>Definition</b> cost_values.hpp:41</div></div>