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EnvironmentNAVXYTHETAMLEVLAT Class Reference

This is x,y,theta lattice planning but with multiple levels in z. In other words, it is for doing collision checking in 3D (x,y,z). The z level is split into numofzlevs levels. If numofzlevs = 1, then it defaults to the original x,y,theta lattice planning defined in EnvironmentNAVXYTHETALAT. Otherwise, it uses numofzlevs footprints of the robot and corresponding costmaps. It assumes that they correspond to each other and are projections of the robot and corresponding z regions of the 3D map. More...

#include <environment_navxythetamlevlat.h>

Inheritance diagram for EnvironmentNAVXYTHETAMLEVLAT:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 EnvironmentNAVXYTHETAMLEVLAT ()
unsigned char GetMapCost (int X, int Y, int levind)
 returns the cost corresponding to the cell <x,y> at level levind
unsigned char GetMapCost (int X, int Y)
 returns the maximum over all levels of the cost corresponding to the cell <x,y>
virtual void GetPredsofChangedEdges (vector< nav2dcell_t > const *changedcellsV, vector< int > *preds_of_changededgesIDV)
 incremental planning not supported
virtual void GetSuccsofChangedEdges (vector< nav2dcell_t > const *changedcellsV, vector< int > *succs_of_changededgesIDV)
 incremental planning not supported
bool InitializeAdditionalLevels (int numofadditionalzlevs, const vector< sbpl_2Dpt_t > *perimeterptsV, unsigned char *cost_inscribed_thresh, unsigned char *cost_possibly_circumscribed_thresh)
 initialization of additional levels. 0 is the original one. All additional ones will start with index 1 For each level, it also takes cost thresholds for cells lying within inner radius of the robot (inscribed) and outside of the inner circle but within outer radius (possibly_circumscribed). See environment_navxythetalat.h for the explanation of these parameters.
bool IsObstacle (int x, int y, int levind)
bool IsObstacle (int x, int y)
bool IsValidCell (int X, int Y, int levind)
bool IsValidCell (int X, int Y)
bool IsValidConfiguration (int X, int Y, int Theta)
 returns false if robot intersects obstacles or lies outside of the map. Note this is pretty expensive operation since it computes the footprint of the robot based on its x,y,theta
bool Set2DMapforAddLev (const unsigned char **NewGrid2D, int levind)
 set 2D map for the additional level levind The version of Set2DMapforAddLev that takes newmap as 2D array instead of one linear array
bool Set2DMapforAddLev (const unsigned char *mapdata, int levind)
 setting 2D map for the additional level at levind index (indices are zero-based and are only used to index the additional levels) you can not use this function to set 2D map for the base level transform from linear array mapdata to the 2D matrix used internally: Grid2D[x][y] = mapdata[x+y*width]
bool UpdateCostinAddLev (int x, int y, unsigned char newcost, int zlev)
 update the traversability of a cell<x,y> in level zlev
 ~EnvironmentNAVXYTHETAMLEVLAT ()

Protected Member Functions

virtual int GetActionCost (int SourceX, int SourceY, int SourceTheta, EnvNAVXYTHETALATAction_t *action)
virtual int GetActionCostacrossAddLevels (int SourceX, int SourceY, int SourceTheta, EnvNAVXYTHETALATAction_t *action)

Protected Attributes

EnvNAVXYTHETAMLEVLATAddInfoAction_t ** AdditionalInfoinActionsV
 array of additional info in actions, AdditionalInfoinActionsV[i][j] - jth action for sourcetheta = i basically, each Additional info structure will contain numofadditionalzlevs additional intersecting cells vector<sbpl_2Dcell_t> intersectingcellsV
unsigned char * AddLevel_cost_inscribed_thresh
 inscribed cost thresholds for additional levels see environment_navxythetalat.h file for the explanation of this threshold
unsigned char * AddLevel_cost_possibly_circumscribed_thresh
 possibly_circumscribed cost thresholds for additional levels see environment_navxythetalat.h file for the explanation of this threshold
vector< sbpl_2Dpt_t > * AddLevelFootprintPolygonV
 footprints for the additional levels
unsigned char *** AddLevelGrid2D
 2D maps for additional levels. AddLevelGrid2D[lind][x][y] refers to <x,y> cell on the additional level lind
int numofadditionalzlevs
 number of additional levels. If it is 0, then there is only one level - base level

Detailed Description

This is x,y,theta lattice planning but with multiple levels in z. In other words, it is for doing collision checking in 3D (x,y,z). The z level is split into numofzlevs levels. If numofzlevs = 1, then it defaults to the original x,y,theta lattice planning defined in EnvironmentNAVXYTHETALAT. Otherwise, it uses numofzlevs footprints of the robot and corresponding costmaps. It assumes that they correspond to each other and are projections of the robot and corresponding z regions of the 3D map.

Definition at line 49 of file environment_navxythetamlevlat.h.


Constructor & Destructor Documentation

EnvironmentNAVXYTHETAMLEVLAT::EnvironmentNAVXYTHETAMLEVLAT (  ) 

Definition at line 46 of file environment_navxythetamlevlat.cpp.

EnvironmentNAVXYTHETAMLEVLAT::~EnvironmentNAVXYTHETAMLEVLAT (  ) 

Definition at line 56 of file environment_navxythetamlevlat.cpp.


Member Function Documentation

int EnvironmentNAVXYTHETAMLEVLAT::GetActionCost ( int  SourceX,
int  SourceY,
int  SourceTheta,
EnvNAVXYTHETALATAction_t action 
) [protected, virtual]

Reimplemented from EnvironmentNAVXYTHETALATTICE.

Definition at line 248 of file environment_navxythetamlevlat.cpp.

int EnvironmentNAVXYTHETAMLEVLAT::GetActionCostacrossAddLevels ( int  SourceX,
int  SourceY,
int  SourceTheta,
EnvNAVXYTHETALATAction_t action 
) [protected, virtual]

Definition at line 263 of file environment_navxythetamlevlat.cpp.

unsigned char EnvironmentNAVXYTHETAMLEVLAT::GetMapCost ( int  X,
int  Y,
int  levind 
)

returns the cost corresponding to the cell <x,y> at level levind

Definition at line 191 of file environment_navxythetamlevlat.cpp.

unsigned char EnvironmentNAVXYTHETAMLEVLAT::GetMapCost ( int  X,
int  Y 
)

returns the maximum over all levels of the cost corresponding to the cell <x,y>

Reimplemented from EnvironmentNAVXYTHETALATTICE.

Definition at line 178 of file environment_navxythetamlevlat.cpp.

virtual void EnvironmentNAVXYTHETAMLEVLAT::GetPredsofChangedEdges ( vector< nav2dcell_t > const *  changedcellsV,
vector< int > *  preds_of_changededgesIDV 
) [inline, virtual]

incremental planning not supported

Reimplemented from EnvironmentNAVXYTHETALAT.

Definition at line 87 of file environment_navxythetamlevlat.h.

virtual void EnvironmentNAVXYTHETAMLEVLAT::GetSuccsofChangedEdges ( vector< nav2dcell_t > const *  changedcellsV,
vector< int > *  succs_of_changededgesIDV 
) [inline, virtual]

incremental planning not supported

Reimplemented from EnvironmentNAVXYTHETALAT.

Definition at line 97 of file environment_navxythetamlevlat.h.

bool EnvironmentNAVXYTHETAMLEVLAT::InitializeAdditionalLevels ( int  numofadditionalzlevs,
const vector< sbpl_2Dpt_t > *  perimeterptsV,
unsigned char *  cost_inscribed_thresh,
unsigned char *  cost_possibly_circumscribed_thresh 
)

initialization of additional levels. 0 is the original one. All additional ones will start with index 1 For each level, it also takes cost thresholds for cells lying within inner radius of the robot (inscribed) and outside of the inner circle but within outer radius (possibly_circumscribed). See environment_navxythetalat.h for the explanation of these parameters.

Definition at line 379 of file environment_navxythetamlevlat.cpp.

bool EnvironmentNAVXYTHETAMLEVLAT::IsObstacle ( int  x,
int  y,
int  levind 
)

returns true if cell is untraversable at level levelnum.

Definition at line 163 of file environment_navxythetamlevlat.cpp.

bool EnvironmentNAVXYTHETAMLEVLAT::IsObstacle ( int  x,
int  y 
)

returns true if cell is untraversable at any level

Reimplemented from EnvironmentNAVXYTHETALATTICE.

Definition at line 142 of file environment_navxythetamlevlat.cpp.

bool EnvironmentNAVXYTHETAMLEVLAT::IsValidCell ( int  X,
int  Y,
int  levind 
)

returns true if cell is traversable and within map limits for a particular level

Definition at line 133 of file environment_navxythetamlevlat.cpp.

bool EnvironmentNAVXYTHETAMLEVLAT::IsValidCell ( int  X,
int  Y 
) [virtual]

returns true if cell is traversable and within map limits - it checks against all levels including the base one

Reimplemented from EnvironmentNAVXYTHETALATTICE.

Definition at line 115 of file environment_navxythetamlevlat.cpp.

bool EnvironmentNAVXYTHETAMLEVLAT::IsValidConfiguration ( int  X,
int  Y,
int  Theta 
)

returns false if robot intersects obstacles or lies outside of the map. Note this is pretty expensive operation since it computes the footprint of the robot based on its x,y,theta

Reimplemented from EnvironmentNAVXYTHETALATTICE.

Definition at line 206 of file environment_navxythetamlevlat.cpp.

bool EnvironmentNAVXYTHETAMLEVLAT::Set2DMapforAddLev ( const unsigned char **  NewGrid2D,
int  levind 
)

set 2D map for the additional level levind The version of Set2DMapforAddLev that takes newmap as 2D array instead of one linear array

Definition at line 507 of file environment_navxythetamlevlat.cpp.

bool EnvironmentNAVXYTHETAMLEVLAT::Set2DMapforAddLev ( const unsigned char *  mapdata,
int  levind 
)

setting 2D map for the additional level at levind index (indices are zero-based and are only used to index the additional levels) you can not use this function to set 2D map for the base level transform from linear array mapdata to the 2D matrix used internally: Grid2D[x][y] = mapdata[x+y*width]

Definition at line 486 of file environment_navxythetamlevlat.cpp.

bool EnvironmentNAVXYTHETAMLEVLAT::UpdateCostinAddLev ( int  x,
int  y,
unsigned char  newcost,
int  zlev 
)

update the traversability of a cell<x,y> in level zlev

Definition at line 531 of file environment_navxythetamlevlat.cpp.


Member Data Documentation

array of additional info in actions, AdditionalInfoinActionsV[i][j] - jth action for sourcetheta = i basically, each Additional info structure will contain numofadditionalzlevs additional intersecting cells vector<sbpl_2Dcell_t> intersectingcellsV

Definition at line 163 of file environment_navxythetamlevlat.h.

inscribed cost thresholds for additional levels see environment_navxythetalat.h file for the explanation of this threshold

Definition at line 176 of file environment_navxythetamlevlat.h.

possibly_circumscribed cost thresholds for additional levels see environment_navxythetalat.h file for the explanation of this threshold

Definition at line 181 of file environment_navxythetamlevlat.h.

footprints for the additional levels

Definition at line 155 of file environment_navxythetamlevlat.h.

unsigned char*** EnvironmentNAVXYTHETAMLEVLAT::AddLevelGrid2D [protected]

2D maps for additional levels. AddLevelGrid2D[lind][x][y] refers to <x,y> cell on the additional level lind

Definition at line 170 of file environment_navxythetamlevlat.h.

number of additional levels. If it is 0, then there is only one level - base level

Definition at line 149 of file environment_navxythetamlevlat.h.


The documentation for this class was generated from the following files:
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sbpl
Author(s): Maxim Likhachev/maximl@seas.upenn.edu
autogenerated on Fri Mar 1 14:18:59 2013