.. _pilot.CostMapData:

pilot.CostMapData
=================

.. cpp:namespace:: pilot::CostMapData

Class
-----

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

Inherits from :ref:`pilot.GridMapData`.


Fields
------


.. cpp:member:: static const uchar PROHIBITED = 254
.. cpp:member:: static const uchar UNKNOWN = 255

.. cpp:member:: float cost_scale

	obstacle distance scale [m]
	
	``distance = (1 - (cost / 200)) * cost_scale``

.. cpp:member:: Image8 cost

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


Methods
-------


.. cpp:function:: ImageF32 to_float() const

	convert to float format (0 to 1)

.. cpp:function:: Image8 to_rgba_image(int alpha) const

	for visualization (with color)

.. cpp:function:: Image8 to_rgba_mono_image(int alpha) const

	for visualization (just grayscale)

.. cpp:function:: static Vector4uc to_rgba(int value, int alpha)

	convert occupancy to RGBA

.. cpp:function:: static Vector4uc to_rgba_mono(int value, int alpha)

	convert occupancy to RGBA mono