Struct AdaptiveCostmapNamo 

pub struct AdaptiveCostmapNamo { /* private fields */ }

Adaptive costmap state.

Implementations

impl AdaptiveCostmapNamo

pub fn new(config: AdaptiveCostmapNamoConfig) -> RoboticsResult<Self>

pub fn width(&self) -> i32

pub fn height(&self) -> i32

pub fn cell(&self, x: i32, y: i32) -> RoboticsResult<AdaptiveCostmapCell>

pub fn set_cell_state( &mut self, x: i32, y: i32, state: AdaptiveCostmapCellState, ) -> RoboticsResult<()>

pub fn mark_movable_obstacle(&mut self, x: i32, y: i32) -> RoboticsResult<()>

pub fn mark_static_obstacle(&mut self, x: i32, y: i32) -> RoboticsResult<()>

pub fn mark_unknown(&mut self, x: i32, y: i32) -> RoboticsResult<()>

pub fn update_movable_costs( &mut self, movable_cells: &[(i32, i32)], observation: MotionProgressObservation, ) -> RoboticsResult<usize>

Update selected movable-obstacle cells from a progress observation.

Stuck observations increase cost toward lethal. Good progress decreases cost back toward movable_initial_cost.

pub fn to_traversal_risk_cells( &self, block_lethal_movable: bool, ) -> Vec<Vec<TerrainRiskCell>>

Convert the adaptive costmap into traversal-risk cells.

Trait Implementations

impl Clone for AdaptiveCostmapNamo

fn clone(&self) -> AdaptiveCostmapNamo

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for AdaptiveCostmapNamo

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for AdaptiveCostmapNamo

fn eq(&self, other: &AdaptiveCostmapNamo) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for AdaptiveCostmapNamo