Issue #22: only touch cells within the triangular projection of the sensor cone #30
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…r projection of the sensor cone. I also add a parameter to regulate (and deactivate) this feature
corot
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Apr 7, 2020
…r projection of the sensor cone. I also add a parameter to regulate (and deactivate) this feature (DLu#30)
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On updateCostmap, only touch cells within the triangular projection of the sensor cone.
I also add a parameter (inflate_cone) to regulate this feature as a percentage. 100% rolls back to current behavior of covering a rectangular area, while 0% corresponds to just the triangle. I added this because, if your sensor fov is very narrow, the covered area can become zero due to cell discretization.
The parameter meaning is a bit tricky, I think, so I created a video to show it working: I set all cells as obstacles to see the covered area. Also a good wiki explanation will be required if this PR is accepted.
Btw, in terms of performance, the feature has nearly no impact; if ever, it makes the update a bit faster when the sensor covers a big area.