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Hiep update

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HiepLM
2025-12-30 10:24:18 +07:00
parent 4246453ae6
commit 72b2f3c639
49 changed files with 476 additions and 476 deletions
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26
plugins/obstacle_layer.cpp
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@@ -35,8 +35,8 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
#include <costmap_2d/obstacle_layer.h>
#include <costmap_2d/costmap_math.h>
#include <robot_costmap_2d/obstacle_layer.h>
#include <robot_costmap_2d/costmap_math.h>
#include <robot_sensor_msgs/point_cloud2_iterator.h>
@@ -44,14 +44,14 @@
#include <boost/dll/alias.hpp>
using costmap_2d::NO_INFORMATION;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::FREE_SPACE;
using robot_costmap_2d::NO_INFORMATION;
using robot_costmap_2d::LETHAL_OBSTACLE;
using robot_costmap_2d::FREE_SPACE;
using costmap_2d::ObservationBuffer;
using costmap_2d::Observation;
using robot_costmap_2d::ObservationBuffer;
using robot_costmap_2d::Observation;
namespace costmap_2d
namespace robot_costmap_2d
{
void ObstacleLayer::onInitialize()
@@ -75,7 +75,7 @@ ObstacleLayer::~ObstacleLayer()
bool ObstacleLayer::getParams(const std::string& config_file_name, robot::NodeHandle &nh)
{
try {
std::string folder = COSTMAP_2D_DIR;
std::string folder = ROBOT_COSTMAP_2D_DIR;
std::string path_source = getSourceFile(folder,config_file_name);
@@ -405,11 +405,11 @@ void ObstacleLayer::updateFootprint(double robot_x, double robot_y, double robot
}
}
void ObstacleLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
void ObstacleLayer::updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
{
if (footprint_clearing_enabled_)
{
setConvexPolygonCost(transformed_footprint_, costmap_2d::FREE_SPACE);
setConvexPolygonCost(transformed_footprint_, robot_costmap_2d::FREE_SPACE);
}
switch (combination_method_)
@@ -426,7 +426,7 @@ void ObstacleLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, i
}
void ObstacleLayer::addStaticObservation(costmap_2d::Observation& obs, bool marking, bool clearing)
void ObstacleLayer::addStaticObservation(robot_costmap_2d::Observation& obs, bool marking, bool clearing)
{
if (marking)
static_marking_observations_.push_back(obs);
@@ -597,4 +597,4 @@ static boost::shared_ptr<Layer> create_obstacle_plugin() {
// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
BOOST_DLL_ALIAS(create_obstacle_plugin, ObstacleLayer)
} // namespace costmap_2d
} // namespace robot_costmap_2d