Classes |
| struct | BELIEFSTATEWITHBINARYHVALS |
| struct | BINARYHIDDENVARIABLE |
| struct | bresenham_param_t |
| struct | POLICYBELIEFSTATEWITHBINARYHVALS |
| struct | sbpl_2Dcell_t |
| struct | sbpl_2Dpt_t |
Defines |
| #define | __max(x, y) (x>y?x:y) |
| #define | __min(x, y) (x>y?y:x) |
| #define | CONTXY2DISC(X, CELLSIZE) (((X)>=0)?((int)((X)/(CELLSIZE))):((int)((X)/(CELLSIZE))-1)) |
| #define | DISCXY2CONT(X, CELLSIZE) ((X)*(CELLSIZE) + (CELLSIZE)/2.0) |
| #define | NORMALIZEDISCTHETA(THETA, THETADIRS) (((THETA>=0)?((THETA)%(THETADIRS)):(((THETA)%(THETADIRS)+THETADIRS)%THETADIRS))) |
| #define | PI_CONST 3.141592653589793238462643383279502884 |
| #define | UNKNOWN_COST 1000000 |
Typedefs |
typedef struct
BELIEFSTATEWITHBINARYHVALS | sbpl_BeliefStatewithBinaryh_t |
| typedef struct BINARYHIDDENVARIABLE | sbpl_BinaryHiddenVar_t |
typedef struct
POLICYBELIEFSTATEWITHBINARYHVALS | sbpl_PolicyStatewithBinaryh_t |
Functions |
| void | CheckMDP (CMDP *mdp) |
| 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) |
| void | PrintMatrix (int **matrix, int rows, int cols, FILE *fOut) |
