Skip to main content

terrain_risk_from_elevation_map

rust_robotics_planning::traversal_risk_graph

Function terrain_risk_from_elevation_map 

Source 
pub fn terrain_risk_from_elevation_map(
    elevation: &[Vec<f64>],
    config: &ElevationRiskConfig,
) -> RoboticsResult<Vec<Vec<TerrainRiskCell>>>
Expand description

Build traversal-risk cells from an elevation grid.

The traversability channel receives local slope risk. The stability channel receives local roughness risk from the largest neighboring height step. Cells whose local step exceeds blocking_step_height, when configured, are marked blocked.