68 lines
2.6 KiB
C++
68 lines
2.6 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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#ifndef ROBOT_TRAJECTORY_ROLLOUT_MAP_CELL_H_
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#define ROBOT_TRAJECTORY_ROLLOUT_MAP_CELL_H_
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#include <robot_base_local_planner/trajectory_inc.h>
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namespace robot_base_local_planner {
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/**
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* @class MapCell
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* @brief Stores path distance and goal distance information used for scoring trajectories
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*/
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class MapCell{
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public:
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/**
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* @brief Default constructor
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*/
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MapCell();
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/**
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* @brief Copy constructor
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* @param mc The MapCell to be copied
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*/
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MapCell(const MapCell& mc);
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unsigned int cx, cy; ///< @brief Cell index in the grid map
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double target_dist; ///< @brief Distance to planner's path
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bool target_mark; ///< @brief Marks for computing path/goal distances
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bool within_robot; ///< @brief Mark for cells within the robot footprint
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};
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}
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#endif
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