shortest_path.cpp File Reference

#include "shortest_path_result.h"
#include <occupancy_grid_utils/shortest_path.h>
#include <ros/assert.h>
#include <queue>

Include dependency graph for shortest_path.cpp:

Go to the source code of this file.

Classes
struct	occupancy_grid_utils::InflationQueueItem
struct	occupancy_grid_utils::PQItem
struct	occupancy_grid_utils::QueueItem
Namespaces
namespace	occupancy_grid_utils
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< double >	occupancy_grid_utils::distanceTo (ResultPtr shortest_path_result, const Cell &dest)
	From result of single-source shortest paths, extract distance to some destination.
boost::optional< Path >	occupancy_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.
double	occupancy_grid_utils::manhattanHeuristic (const Cell &c1, const Cell &c2)
bool	occupancy_grid_utils::myGt (const signed char x, const signed char y)
bool	occupancy_grid_utils::operator< (const QueueItem &i1, const QueueItem &i2)
boost::optional< AStarResult >	occupancy_grid_utils::shortestPath (const nav_msgs::OccupancyGrid &g, const Cell &src, const Cell &dest)
	A* search that returns distance in cells. Deprecated; use shortestPathAStar instead.using Manhattan distance cost and heuristic, with only horizontal and vertical neighbors.
boost::optional< AStarResult >	occupancy_grid_utils::shortestPathAStar (const nav_msgs::OccupancyGrid &g, const Cell &src, const Cell &dest)
	A* search 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, bool manhattan=false)
	Single source Dijkstra's algorithm.
ResultPtr	occupancy_grid_utils::singleSourceShortestPaths (const nav_msgs::OccupancyGrid &g, const Cell &src, bool manhattan=false)
	Single source Dijkstra's algorithm.

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Detailed Description

Implementation of shortest_path.h

Author:

Bhaskara Marthi

Definition in file shortest_path.cpp.