utils.cpp File Reference

#include <iostream>
#include "../sbpl/headers.h"

Include dependency graph for utils.cpp:

Go to the source code of this file.

Functions
void	CheckMDP (CMDP *mdp)
void	checkmdpstate (CMDPSTATE *state)
void	computeDistancestoNonfreeAreas (unsigned char **Grid2D, int width_x, int height_y, unsigned char obsthresh, float **disttoObs_incells, float **disttoNonfree_incells)
	computes 8-connected distances - performs distance transform in two linear passes
double	computeMinUnsignedAngleDiff (double angle1, double angle2)
	computes minimum unsigned difference between two angles in radians
int	ComputeNumofStochasticActions (CMDP *pMDP)
int	ContTheta2Disc (double fTheta, int NUMOFANGLEVALS)
	converts continuous (radians) version of angle into discrete
double	DiscTheta2Cont (int nTheta, int NUMOFANGLEVALS)
	converts discretized version of angle into continuous (radians)
void	EvaluatePolicy (CMDP *PolicyMDP, int StartStateID, int GoalStateID, double *PolValue, bool *bFullPolicy, double *Pcgoal, int *nMerges, bool *bCycles)
void	get_bresenham_parameters (int p1x, int p1y, int p2x, int p2y, bresenham_param_t *params)
	one of the three functions that correspond to bresenham algorithm of path following this function computes bresenham parameters given the start and end points on the line segment
void	get_current_point (bresenham_param_t *params, int *x, int *y)
	one of the three functions that correspond to bresenham algorithm of path following returns current cell on the line segment
int	get_next_point (bresenham_param_t *params)
	one of the three functions that correspond to bresenham algorithm of path following moves to the next point
bool	IsInsideFootprint (sbpl_2Dpt_t pt, vector< sbpl_2Dpt_t > *bounding_polygon)
	returns true if 2D point is within the specified polygon given by ordered sequence of 2D points (last point is automatically connected to the first)
double	normalizeAngle (double angle)
bool	PathExists (CMDP *pMarkovChain, CMDPSTATE *sourcestate, CMDPSTATE *targetstate)
void	PrintMatrix (int **matrix, int rows, int cols, FILE *fOut)

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Function Documentation

void CheckMDP

(

CMDP *

mdp

)

Definition at line 104 of file utils.cpp.

void checkmdpstate

(

CMDPSTATE *

state

)

Definition at line 70 of file utils.cpp.

void computeDistancestoNonfreeAreas	(	unsigned char **	Grid2D,
		int	width_x,
		int	height_y,
		unsigned char	obsthresh,
		float **	disttoObs_incells,
		float **	disttoNonfree_incells
	)

computes 8-connected distances - performs distance transform in two linear passes

Definition at line 543 of file utils.cpp.

double computeMinUnsignedAngleDiff	(	double	angle1,
		double	angle2
	)

computes minimum unsigned difference between two angles in radians

Definition at line 522 of file utils.cpp.

int ComputeNumofStochasticActions

(

CMDP *

pMDP

)

Definition at line 189 of file utils.cpp.

int ContTheta2Disc	(	double	fTheta,
		int	NUMOFANGLEVALS
	)

converts continuous (radians) version of angle into discrete

Note:

maps 0->0, [delta/2, 3/2*delta)->1, [3/2*delta, 5/2*delta)->2,...

Definition at line 443 of file utils.cpp.

double DiscTheta2Cont	(	int	nTheta,
		int	NUMOFANGLEVALS
	)

converts discretized version of angle into continuous (radians)

Note:

maps 0->0, 1->delta, 2->2*delta, ...

Definition at line 433 of file utils.cpp.

void EvaluatePolicy	(	CMDP *	PolicyMDP,
		int	StartStateID,
		int	GoalStateID,
		double *	PolValue,
		bool *	bFullPolicy,
		double *	Pcgoal,
		int *	nMerges,
		bool *	bCycles
	)

Definition at line 209 of file utils.cpp.

void get_bresenham_parameters	(	int	p1x,
		int	p1y,
		int	p2x,
		int	p2y,
		bresenham_param_t *	params
	)

one of the three functions that correspond to bresenham algorithm of path following this function computes bresenham parameters given the start and end points on the line segment

Definition at line 347 of file utils.cpp.

void get_current_point	(	bresenham_param_t *	params,
		int *	x,
		int *	y
	)

one of the three functions that correspond to bresenham algorithm of path following returns current cell on the line segment

Definition at line 394 of file utils.cpp.

int get_next_point

(

bresenham_param_t *

params

)

one of the three functions that correspond to bresenham algorithm of path following moves to the next point

Definition at line 412 of file utils.cpp.

bool IsInsideFootprint	(	sbpl_2Dpt_t	pt,
		vector< sbpl_2Dpt_t > *	bounding_polygon
	)

returns true if 2D point is within the specified polygon given by ordered sequence of 2D points (last point is automatically connected to the first)

Definition at line 484 of file utils.cpp.

double normalizeAngle

(

double

angle

)

Note:

counterclockwise is positive

Parameters:

angle

input angle should be in radians

Returns:

output is an angle in the range of from 0 to 2*PI

Definition at line 457 of file utils.cpp.

bool PathExists	(	CMDP *	pMarkovChain,
		CMDPSTATE *	sourcestate,
		CMDPSTATE *	targetstate
	)

Definition at line 129 of file utils.cpp.

void PrintMatrix	(	int **	matrix,
		int	rows,
		int	cols,
		FILE *	fOut
	)

Definition at line 115 of file utils.cpp.