pilot.CostMapData¶

Class¶

A map representing the navigation cost based on the proximity to walls and other obstacles.

Inherits from pilot.GridMapData.

Fields¶

static const uchar PROHIBITED = 254¶

static const uchar UNKNOWN = 255¶

float cost_scale¶

obstacle distance scale [m]

distance = (1 - (cost / 200)) * cost_scale

Image8 cost¶

0 to 200 = cost
200 = wall
> 200 = same as occupancy map

Methods¶

ImageF32 to_float() const¶: convert to float format (0 to 1)

Image8 to_rgba_image(int alpha) const¶: for visualization (with color)

Image8 to_rgba_mono_image(int alpha) const¶: for visualization (just grayscale)

static Vector4uc to_rgba(int value, int alpha)¶: convert occupancy to RGBA

static Vector4uc to_rgba_mono(int value, int alpha)¶: convert occupancy to RGBA mono