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include/robot_base_local_planner/map_cell.h

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+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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+ *********************************************************************/
+#ifndef ROBOT_TRAJECTORY_ROLLOUT_MAP_CELL_H_
+#define ROBOT_TRAJECTORY_ROLLOUT_MAP_CELL_H_
+
+#include <robot_base_local_planner/trajectory_inc.h>
+
+namespace robot_base_local_planner {
+  /**
+   * @class MapCell
+   * @brief Stores path distance and goal distance information used for scoring trajectories
+   */
+  class MapCell{
+    public:
+      /**
+       * @brief  Default constructor
+       */
+      MapCell();
+
+      /**
+       * @brief  Copy constructor
+       * @param mc The MapCell to be copied
+       */
+      MapCell(const MapCell& mc);
+
+      unsigned int cx, cy; ///< @brief Cell index in the grid map
+
+      double target_dist; ///< @brief Distance to planner's path
+
+      bool target_mark; ///< @brief Marks for computing path/goal distances
+
+      bool within_robot; ///< @brief Mark for cells within the robot footprint
+  };
+}
+
+#endif