envDBubble.h File Reference

#include <sbpl_dynamic_planner/DiscreteSpaceTimeInformation.h>
#include <sbpl/headers.h>
#include <sbpl_dynamic_planner/sbpl_dynamicObstacles.h>

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Classes
struct	envBubbleLat_config
class	EnvDBubbleLat
struct	envDBubbleLat_BubbleCell_t
struct	envDBubbleLat_BubbleCellObs_t
struct	EnvDBubbleLat_t
struct	envDBubbleLatAction_t
struct	envDBubbleLatHashEntry_t
class	EnvDBubbleLattice
struct	SBPL_xythetatimebubble_mprimitive
Defines
#define	CONTTIME2DISC(X, CELLSIZE)   (((X)>=0)?((int)((X)/(CELLSIZE)+0.5)):((int)((X)/(CELLSIZE))-1))
#define	DISCTIME2CONT(X, CELLSIZE)   ((X)*(CELLSIZE))
#define	ENVDBUBBLELAT_COSTMULT_MTOMM   1000
#define	ENVDBUBBLELAT_DEFAULT_ACTIONWIDTH   5
#define	ENVDBUBBLELAT_DEFAULTDYNOBSTHRESH   254
#define	ENVDBUBBLELAT_DEFAULTOBSTHRESH   254
#define	ENVDBUBBLELAT_DXYWIDTH   8
#define	ENVDBUBBLELAT_THETADIRS   16
#define	FAIL   0
#define	SUCCESS_NO_TIME   2
#define	SUCCESS_WITH_TIME   1
Typedefs
typedef struct envBubbleLat_config	envDBubbleLatConfig_t

---

Define Documentation

#define CONTTIME2DISC	(	X,
		CELLSIZE		)	(((X)>=0)?((int)((X)/(CELLSIZE)+0.5)):((int)((X)/(CELLSIZE))-1))

Definition at line 53 of file envDBubble.h.

#define DISCTIME2CONT	(	X,
		CELLSIZE		)	((X)*(CELLSIZE))

Definition at line 54 of file envDBubble.h.

#define ENVDBUBBLELAT_COSTMULT_MTOMM   1000

Definition at line 51 of file envDBubble.h.

#define ENVDBUBBLELAT_DEFAULT_ACTIONWIDTH   5

Definition at line 49 of file envDBubble.h.

#define ENVDBUBBLELAT_DEFAULTDYNOBSTHRESH   254

Definition at line 39 of file envDBubble.h.

#define ENVDBUBBLELAT_DEFAULTOBSTHRESH   254

Definition at line 38 of file envDBubble.h.

#define ENVDBUBBLELAT_DXYWIDTH   8

Definition at line 36 of file envDBubble.h.

#define ENVDBUBBLELAT_THETADIRS   16

Definition at line 46 of file envDBubble.h.

#define FAIL   0

Definition at line 57 of file envDBubble.h.

#define SUCCESS_NO_TIME   2

Definition at line 59 of file envDBubble.h.

#define SUCCESS_WITH_TIME   1

Definition at line 58 of file envDBubble.h.

---

Typedef Documentation

typedef struct envBubbleLat_config envDBubbleLatConfig_t