shortest_path.h File Reference

#include <occupancy_grid_utils/coordinate_conversions.h>
#include <occupancy_grid_utils/NavigationFunction.h>
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"
#include "nav_msgs/MapMetaData.h"
#include <boost/shared_ptr.hpp>
#include <boost/optional.hpp>
#include <set>
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Classes

struct  occupancy_grid_utils::TerminationCondition
 Termination condition for shortest path search max_dist is a distance such that as soon as we see a cell with greater than this distance, we stop goals is a set such that once we've expanded all the cells in this set, we stop. More...

Namespaces

namespace  occupancy_grid_utils

Typedefs

typedef std::pair< Path, double > occupancy_grid_utils::AStarResult
typedef std::set< Cell > occupancy_grid_utils::Cells
typedef std::vector< Cell > occupancy_grid_utils::Path
typedef boost::shared_ptr
< const ShortestPathResult > 
occupancy_grid_utils::ResultPtr

Functions

boost::optional< double > occupancy_grid_utils::distance (ResultPtr shortest_path_result, const Cell &dest)
 From result of single-source shortest paths, extract distance to some destination.
boost::optional< Pathoccupancy_grid_utils::extractPath (ResultPtr shortest_path_result, const Cell &dest)
 Extract a path from the result of single-source shortest paths.
nav_msgs::OccupancyGrid::Ptr occupancy_grid_utils::inflateObstacles (const nav_msgs::OccupancyGrid &g, double r, bool allow_unknown=false)
 Inflate obstacles in a grid.
boost::optional< AStarResult > occupancy_grid_utils::shortestPath (const nav_msgs::OccupancyGrid &g, const Cell &src, const Cell &dest)
 A* using Manhattan distance cost and heuristic, with only horizontal and vertical neighbors.
ResultPtr occupancy_grid_utils::shortestPathResultFromMessage (const NavigationFunction &msg)
 Convert a shortest path result from a ros message.
NavigationFunction occupancy_grid_utils::shortestPathResultToMessage (ResultPtr res)
 Convert a shortest path result to a ros message.
ResultPtr occupancy_grid_utils::singleSourceShortestPaths (const nav_msgs::OccupancyGrid &g, const Cell &src, const TerminationCondition &term)
 Single source Dijkstra's algorithm.
ResultPtr occupancy_grid_utils::singleSourceShortestPaths (const nav_msgs::OccupancyGrid &g, const Cell &src)
 Single source Dijkstra's algorithm.

Detailed Description

Shortest paths in occupancy grids

Author:
Bhaskara Marthi

Definition in file shortest_path.h.

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occupancy_grid_utils
Author(s): Bhaskara Marthi
autogenerated on Fri Jan 11 10:07:09 2013