Hello fellow ros users,
I have a question/petition regarding the interface of costmap_2d.
In short:
publicise Costmap2D::raytraceLine(ActionType at, x0, y0, ...)
Rationale:
Since raytracing is an often used way of getting information out of a
rasterized image, it seems reasonable to make this public. Maybe
only in a read-only fashion.
ActionType should get a copy, not a reference to the cell, ensuring
consistency.
Using Costmap::getCharMap() throws away any kind of encapsulation, so
I only see it as an emergency tool.
Writing my own (or reusing some other) implementation of Bresenham seems
a bit ugly when there is one already there that is tried, tested and
optimized
for this particular data structure.
If you agree and want me to formulate a patch, I would be happy to help.
Thx,
Andreas T.
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