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tutorials:intermediate:costmaps [2022/04/27 13:53] – [Setup] schimpftutorials:intermediate:costmaps [2022/04/27 14:02] (current) – [Creating your own cost function] schimpf
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 ===== Setup ===== ===== Setup =====
-Set up the environment in our terminal by calling the launch file:+    *set up the environment in our terminal by calling the launch file:
  
-    *roslaunch cram_bullet_world_tutorial world.launch +        roslaunch cram_bullet_world_tutorial world.launch 
  
     *load cram_bullet_world_tutorial in the REPL     *load cram_bullet_world_tutorial in the REPL
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                  (if (and (< (cl-transforms:x point) 0.0d0)                  (if (and (< (cl-transforms:x point) 0.0d0)
                           (> (abs (/ (cl-transforms:x point) vector-length)) 0))                           (> (abs (/ (cl-transforms:x point) vector-length)) 0))
-                     (abs (/ (cl-transforms:x point) vector-length)) +                     1 
-                     0.0d0))))) +                     0))))) 
-</code> To summarize this, we can see that the individual value in the costmap generator is set to the normalized x value of the sampling point if it lies behind the reference point (when x is negative compared to the reference). Else it's set to 0.+</code> 
 +To summerize, we can see that the individual value in the costmap generator is set to 1 if it is behind the reference point and else it's set to 0.
  
   * define order for your costmap function and give it a name:   * define order for your costmap function and give it a name: