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

update Costmap API documentation #344

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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
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17 changes: 17 additions & 0 deletions commander_api/index.rst
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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 (``int``) of a cell in the costmap using mx(``int``), |
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| | my(``int``) of Map Coordinate. |
+---------------------------------------+----------------------------------------------------------------------------+
| getCostIdx(index) | Get the cost (``int``) of a cell in the costmap using index(``int``) |
+---------------------------------------+----------------------------------------------------------------------------+
| setCost(mx, my, cost) | Set the cost (``np.int8``) of a cell in the costmap using mx(``int``), |
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| | my(``int``) of Map Coordinate. |
+---------------------------------------+----------------------------------------------------------------------------+
| mapToWorld(mx, my) | Get the wx(``float``), wy(``float``) of world coodinate XY using |
| | mx(``int``), my(``int``) of map coordinate XY |
+---------------------------------------+----------------------------------------------------------------------------+
| worldToMap(wx, wy) | Get the mx(``int``), my(``int``) of map coodinate XY using |
| | wx(``float``), wy(``float``) of world coordinate XY |
+---------------------------------------+----------------------------------------------------------------------------+
| getIndex(mx, my) | Get the index(``int``) of the cell using mx(``int``), my(``int``) of |
| | map coodinate XY |
+---------------------------------------+----------------------------------------------------------------------------+

Examples and Demos
******************
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