Expand description
Adaptive movable-obstacle costmap slice inspired by Costmap-NAMO.
This module models the core planning-side behavior without ROS2/Nav2: partially known cells can be labeled movable, their cost is adapted from commanded-vs-actual progress, and the result can be converted into a traversal-risk grid for graph planning.
Structs§
- Adaptive
Costmap Cell - One adaptive costmap cell.
- Adaptive
Costmap Namo - Adaptive costmap state.
- Adaptive
Costmap Namo Config - Configuration for adaptive movable-obstacle cost updates.
- Motion
Progress Observation - Commanded/observed motion over one update window.
Enums§
- Adaptive
Costmap Cell State - Semantic state of one adaptive costmap cell.