bwi_mapper::DirectedDFS Class Reference

The directed DFS class. Checks whether 2 points are close inside the map in obstacle space. Uses euclidean distance to goal to guide the search. More...

#include <directed_dfs.h>

List of all members.

Public Member Functions
	DirectedDFS (const nav_msgs::OccupancyGrid &map)
	Constructor initializing underlying map.
bool	searchForPath (const Point2d &start, const Point2d &goal, uint32_t depth, bool in_obstacle_space=true)
	Non-recusrive start point for performing DFS.
Private Member Functions
void	getOrderedNeighbours (const Point2d &from, const Point2d &goal, const std::vector< bool > &visited, std::vector< Point2d > &neighbours, bool in_obstacle_space=true)
	Gets neighbours for a given node iff they are also obstacles and have not been visited before.
bool	searchForPath (const Point2d &start, const Point2d &goal, uint32_t depth, std::vector< bool > &visited, bool in_obstacle_space=true)
	Recursive function performing DFS.
Private Attributes
const nav_msgs::OccupancyGrid &	map_

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Detailed Description

The directed DFS class. Checks whether 2 points are close inside the map in obstacle space. Uses euclidean distance to goal to guide the search.

Definition at line 53 of file directed_dfs.h.

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Constructor & Destructor Documentation

bwi_mapper::DirectedDFS::DirectedDFS

(

const nav_msgs::OccupancyGrid &

map

)

[inline]

Constructor initializing underlying map.

Parameters:

map	OccupancyGrid representing underlying map

Definition at line 61 of file directed_dfs.h.

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Member Function Documentation

void bwi_mapper::DirectedDFS::getOrderedNeighbours	(	const Point2d &	from,
		const Point2d &	goal,
		const std::vector< bool > &	visited,
		std::vector< Point2d > &	neighbours,
		bool	in_obstacle_space = true
	)		[private]

Gets neighbours for a given node iff they are also obstacles and have not been visited before.

Parameters:

visited	a boolean vector of size height * width containing information whether a map_idx has been visited already or not
neighbours	returned neighbours

Definition at line 95 of file directed_dfs.cpp.

bool bwi_mapper::DirectedDFS::searchForPath	(	const Point2d &	start,
		const Point2d &	goal,
		uint32_t	depth,
		bool	in_obstacle_space = true
	)

Non-recusrive start point for performing DFS.

Parameters:

depth

DFS attempts an 8 connected search. This is the max pixel depth that we perform the search to.

Returns:

bool true if path found within depth, false otherwise

Definition at line 46 of file directed_dfs.cpp.

bool bwi_mapper::DirectedDFS::searchForPath	(	const Point2d &	start,
		const Point2d &	goal,
		uint32_t	depth,
		std::vector< bool > &	visited,
		bool	in_obstacle_space = true
	)		[private]

Recursive function performing DFS.

Recusrive function performing DFS.

Parameters:

depth	DFS attempts an 8 connected search. This is the max pixel depth that we perform the search to.
visited	a boolean vector of size height * width containing information whether a map_idx has been visited already or not

Returns:

bool true if path found within depth, false otherwise

Definition at line 56 of file directed_dfs.cpp.

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Member Data Documentation

const nav_msgs::OccupancyGrid& bwi_mapper::DirectedDFS::map_ [private]

/brief the underlying map over which DFS is performed

Definition at line 99 of file directed_dfs.h.

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The documentation for this class was generated from the following files:

• directed_dfs.h
• directed_dfs.cpp