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Esse mapa conceitual, produzido no IHMC CmapTools, tem a informação relacionada a: carmen, carmen_planner_update_grid chama carmen_convetional_build_costs, navigator chama base_odometry_handler(), plan(carmen_navigator_config_t *nav_conf) chama carmen_convetional_dynamic_program(goal_x, goal_y), carmen_planner_update_map chama plan(carmen_navigator_config_t *nav_conf), carmen_planner_update_grid chama plan(carmen_navigator_config_t *nav_conf), carmen_navigator_goal() chama carmen_planner_update_goal, extract_path_from_value_function chama n vezes (até achar o destino) carmen_map_to_trajectory, regenerate_trajectory chama extract_path_from_value_function, navigator chama simulator_handler, navigator_IPC ???? carmen_navigator_goal_place, navigator_IPC ???? carmen_navigator_goal(), extract_path_from_value_function chama n vezes (até achar o destino) carmen_convetional_find_best_action, robot_rearlaser_handler() chama carmen_planner_update_map, robot_front_laser_handler() chama carmen_planner_update_map, carmen_planner_update_goal chama regenerate_trajectory, navigator chama robot_globalpos_handler(), carmen_planner_update_map chama regenerate_trajectory, carmen_planner_update_robot chama regenerate_trajectory, base_odometry_handler() chama carmen_planner_update_robot, carmen_planner_set_map chama carmen_convetional_build_costs