Skip to content

update Costmap API documentation #344

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
SteveMacenski merged 4 commits into from
Sep 12, 2022
Merged

update Costmap API documentation #344

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
784ae9f
update Costmap API documentation
JacksonK9 Sep 7, 2022
17167de
Merge branch 'ros-planning:master' into taskB
JacksonK9 Sep 9, 2022
a098dbe
add units and type of parameters to commander_api document
JacksonK9 Sep 9, 2022
f1ee716
typo correction
JacksonK9 Sep 10, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 17 additions & 0 deletions commander_api/index.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -147,6 +147,23 @@ This is a Python3 API for costmap 2d messages from the stack. It provides the ba
+---------------------------------------+----------------------------------------------------------------------------+
| getCostmapTimestamp() | Get costmap timestamp. |
+---------------------------------------+----------------------------------------------------------------------------+
| getCostXY(mx, my) | Get the cost (``np.uint8``) of a cell in the costmap using mx (``int``) |
| | , my (``int``) of Map Coordinate. |
+---------------------------------------+----------------------------------------------------------------------------+
| getCostIdx(index) | Get the cost (``np.uint8``) of a cell in the costmap using index (``int``) |
+---------------------------------------+----------------------------------------------------------------------------+
| setCost(mx, my, cost) | Set the cost (``np.uint8``) of a cell in the costmap using mx (``int``) |
| | , my (``int``) of Map Coordinate. |
+---------------------------------------+----------------------------------------------------------------------------+
| mapToWorld(mx, my) | Get the wx (``float``) [m], wy (``float``) [m] of world coordinate XY using|
| | mx (``int``), my (``int``) of map coordinate XY |
+---------------------------------------+----------------------------------------------------------------------------+
| worldToMap(wx, wy) | Get the mx (``int``), my (``int``) of map coordinate XY using |
| | wx (``float``) [m], wy (``float``) [m] of world coordinate XY |
+---------------------------------------+----------------------------------------------------------------------------+
| getIndex(mx, my) | Get the index (``int``) of the cell using mx (``int``), my (``int``) of |
| | map coordinate XY |
+---------------------------------------+----------------------------------------------------------------------------+

Examples and Demos
******************
Expand Down