SBPL2DGridSearch Class Reference

2D search itself More...

#include <2Dgridsearch.h>

Public Member Functions
void	destroy ()
	destroys the search and clears all memory
int	getlargestcomputedoptimalf_inmm ()
	returns largest optimal g-value computed by search - a lower bound on the state values of unexpanded states
int	getlowerboundoncostfromstart_inmm (int x, int y)
	returns the computed distance from the start to <x,y>. If not computed, then returns lower bound on it.
void	printvalues ()
	print all the values
	SBPL2DGridSearch (int width_x, int height_y, float cellsize_m)
bool	search (unsigned char **Grid2D, unsigned char obsthresh, int startx_c, int starty_c, int goalx_c, int goaly_c, SBPL_2DGRIDSEARCH_TERM_CONDITION termination_condition)
	performs search itself. All costs are given as cost(cell1, cell2) = Euclidean distance1000(max(cell1,cell2)+1) for adjacent cells.
bool	setOPENdatastructure (SBPL_2DGRIDSEARCH_OPENTYPE OPENtype)
	the priority data structure used - it affects efficiency (can be either heap or sliding buckets, see definition of SBPL_2DGRIDSEARCH_OPENTYPE)
	~SBPL2DGridSearch ()
Private Member Functions
void	computedxy ()
bool	createSearchStates2D (void)
void	initializeSearchState2D (SBPL_2DGridSearchState *state2D)
bool	search_exp (unsigned char **Grid2D, unsigned char obsthresh, int startx_c, int starty_c, int goalx_c, int goaly_c)
bool	search_withbuckets (unsigned char **Grid2D, unsigned char obsthresh, int startx_c, int starty_c, int goalx_c, int goaly_c)
bool	search_withheap (unsigned char **Grid2D, unsigned char obsthresh, int startx_c, int starty_c, int goalx_c, int goaly_c, SBPL_2DGRIDSEARCH_TERM_CONDITION termination_condition)
bool	search_withslidingbuckets (unsigned char **Grid2D, unsigned char obsthresh, int startx_c, int starty_c, int goalx_c, int goaly_c, SBPL_2DGRIDSEARCH_TERM_CONDITION termination_condition)
bool	withinMap (int x, int y)
Private Attributes
float	cellSize_m_
int	dx0intersects_ [SBPL_2DGRIDSEARCH_NUMOF2DDIRS]
int	dx1intersects_ [SBPL_2DGRIDSEARCH_NUMOF2DDIRS]
int	dx_ [SBPL_2DGRIDSEARCH_NUMOF2DDIRS]
int	dxy_distance_mm_ [SBPL_2DGRIDSEARCH_NUMOF2DDIRS]
int	dy0intersects_ [SBPL_2DGRIDSEARCH_NUMOF2DDIRS]
int	dy1intersects_ [SBPL_2DGRIDSEARCH_NUMOF2DDIRS]
int	dy_ [SBPL_2DGRIDSEARCH_NUMOF2DDIRS]
int	goalX_
int	goalY_
int	height_
int	iteration_
int	largestcomputedoptf_
CIntHeap *	OPEN2D_
CSlidingBucket *	OPEN2DBLIST_
SBPL_2DGRIDSEARCH_OPENTYPE	OPENtype_
SBPL_2DGridSearchState **	searchStates2D_
int	startX_
int	startY_
SBPL_2DGRIDSEARCH_TERM_CONDITION	term_condition_usedlast
int	width_

Detailed Description

2D search itself

Definition at line 74 of file 2Dgridsearch.h.

Constructor & Destructor Documentation

SBPL2DGridSearch::SBPL2DGridSearch	(	int	width_x,
		int	height_y,
		float	cellsize_m
	)

Definition at line 38 of file 2Dgridsearch.cpp.

SBPL2DGridSearch::~SBPL2DGridSearch ( ) [inline]

Definition at line 79 of file 2Dgridsearch.h.

Member Function Documentation

void SBPL2DGridSearch::computedxy ( ) [private]

Definition at line 176 of file 2Dgridsearch.cpp.

bool SBPL2DGridSearch::createSearchStates2D ( void ) [private]

Definition at line 116 of file 2Dgridsearch.cpp.

void SBPL2DGridSearch::destroy ( )

destroys the search and clears all memory

Definition at line 148 of file 2Dgridsearch.cpp.

int SBPL2DGridSearch::getlargestcomputedoptimalf_inmm ( ) [inline]

returns largest optimal g-value computed by search - a lower bound on the state values of unexpanded states

Definition at line 125 of file 2Dgridsearch.h.

int SBPL2DGridSearch::getlowerboundoncostfromstart_inmm	(	int	x,
		int	y
	)			`[inline]`

returns the computed distance from the start to <x,y>. If not computed, then returns lower bound on it.

Definition at line 103 of file 2Dgridsearch.h.

void SBPL2DGridSearch::initializeSearchState2D ( SBPL_2DGridSearchState * state2D ) [inline, private]

Definition at line 140 of file 2Dgridsearch.cpp.

void SBPL2DGridSearch::printvalues ( )

print all the values

Definition at line 221 of file 2Dgridsearch.cpp.

bool SBPL2DGridSearch::search	(	unsigned char **	Grid2D,
		unsigned char	obsthresh,
		int	startx_c,
		int	starty_c,
		int	goalx_c,
		int	goaly_c,
		SBPL_2DGRIDSEARCH_TERM_CONDITION	termination_condition
	)

performs search itself. All costs are given as cost(cell1, cell2) = Euclidean distance*1000*(max(cell1,cell2)+1) for adjacent cells.

Note:: It is infinite if max(cell1,cell2) >= obsthresh For cells that are not adjacent (which may happen if 16 connected grid is ON), then max is taken over all the cells center line goes through Search is done from start to goal. termination_condition specifies when to stop the search. In particular, one may specify to run it until OPEN is empty. In this case, the values of all states will be computed.

Definition at line 231 of file 2Dgridsearch.cpp.

bool SBPL2DGridSearch::search_exp	(	unsigned char **	Grid2D,
		unsigned char	obsthresh,
		int	startx_c,
		int	starty_c,
		int	goalx_c,
		int	goaly_c
	)			`[private]`

Definition at line 411 of file 2Dgridsearch.cpp.

bool SBPL2DGridSearch::search_withbuckets	(	unsigned char **	Grid2D,
		unsigned char	obsthresh,
		int	startx_c,
		int	starty_c,
		int	goalx_c,
		int	goaly_c
	)			`[private]`

Definition at line 525 of file 2Dgridsearch.cpp.

bool SBPL2DGridSearch::search_withheap	(	unsigned char **	Grid2D,
		unsigned char	obsthresh,
		int	startx_c,
		int	starty_c,
		int	goalx_c,
		int	goaly_c,
		SBPL_2DGRIDSEARCH_TERM_CONDITION	termination_condition
	)			`[private]`

Definition at line 253 of file 2Dgridsearch.cpp.

bool SBPL2DGridSearch::search_withslidingbuckets	(	unsigned char **	Grid2D,
		unsigned char	obsthresh,
		int	startx_c,
		int	starty_c,
		int	goalx_c,
		int	goaly_c,
		SBPL_2DGRIDSEARCH_TERM_CONDITION	termination_condition
	)			`[private]`