DuongTD/costmap_2d
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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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18
src/costmap_layer.cpp
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@@ -1,6 +1,6 @@
#include<costmap_2d/costmap_layer.h>
#include<robot_costmap_2d/costmap_layer.h>
namespace costmap_2d
namespace robot_costmap_2d
{
void CostmapLayer::touch(double x, double y, double* min_x, double* min_y, double* max_x, double* max_y)
@@ -60,7 +60,7 @@ void CostmapLayer::useExtraBounds(double* min_x, double* min_y, double* max_x, d
has_extra_bounds_ = false;
}
void CostmapLayer::updateWithMax(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
void CostmapLayer::updateWithMax(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
{
if (!enabled_)
return;
@@ -100,7 +100,7 @@ void CostmapLayer::updateWithMax(costmap_2d::Costmap2D& master_grid, int min_i,
}
}
void CostmapLayer::updateWithTrueOverwrite(costmap_2d::Costmap2D& master_grid, int min_i, int min_j,
void CostmapLayer::updateWithTrueOverwrite(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j,
int max_i, int max_j)
{
if (!enabled_)
@@ -119,7 +119,7 @@ void CostmapLayer::updateWithTrueOverwrite(costmap_2d::Costmap2D& master_grid, i
}
}
void CostmapLayer::updateWithOverwrite(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
void CostmapLayer::updateWithOverwrite(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
{
if (!enabled_)
return;
@@ -138,7 +138,7 @@ void CostmapLayer::updateWithOverwrite(costmap_2d::Costmap2D& master_grid, int m
}
}
void CostmapLayer::updateWithAddition(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
void CostmapLayer::updateWithAddition(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
{
if (!enabled_)
return;
@@ -161,8 +161,8 @@ void CostmapLayer::updateWithAddition(costmap_2d::Costmap2D& master_grid, int mi
else
{
int sum = old_cost + costmap_[it];
if (sum >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE)
master_array[it] = costmap_2d::INSCRIBED_INFLATED_OBSTACLE - 1;
if (sum >= robot_costmap_2d::INSCRIBED_INFLATED_OBSTACLE)
master_array[it] = robot_costmap_2d::INSCRIBED_INFLATED_OBSTACLE - 1;
else
master_array[it] = sum;
}
@@ -170,4 +170,4 @@ void CostmapLayer::updateWithAddition(costmap_2d::Costmap2D& master_grid, int mi
}
}
}
} // namespace costmap_2d
} // namespace robot_costmap_2d