12345qiupeng
/
mpc_local_planner
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

costmap_ros is a pointer and adding namespace to new function.

master
Alexander Xydes 2020-03-06 18:19:53 -08:00
parent 31471d2ed6
commit e1b218c0a9
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
mpc_local_planner/src/mpc_local_planner_ros.cpp
View File

@ -984,11 +984,11 @@ teb_local_planner::RobotFootprintModelPtr MpcLocalPlannerROS::getRobotFootprintF
return boost::make_shared<teb_local_planner::PointRobotFootprint>(); return boost::make_shared<teb_local_planner::PointRobotFootprint>();
} }
teb_local_planner::RobotFootprintModelPtr getRobotFootprintFromCostmap2d() teb_local_planner::RobotFootprintModelPtr MpcLocalPlannerROS::getRobotFootprintFromCostmap2d()
{ {
Point2dContainer footprint; Point2dContainer footprint;
Eigen::Vector2d pt; Eigen::Vector2d pt;
geometry_msgs::Polygon polygon = _costmap_ros.getRobotFootprintPolygon(); geometry_msgs::Polygon polygon = _costmap_ros->getRobotFootprintPolygon();
for (int i = 0; i < polygon.points.size(); ++i) for (int i = 0; i < polygon.points.size(); ++i)
{ {