bwi_mapper::PathFinder Class Reference

Performs a 4-connected dynamic programming search around a given point to find which other points it is connected to in the map. More...

#include <path_finder.h>

List of all members.

Public Member Functions
int	getManhattanDistance (const Point2d &pt)
bool	pathExists (const Point2d &pt)
	PathFinder (const nav_msgs::OccupancyGrid &map, const Point2d &start_pt)
Public Attributes
std::vector< int >	search_space_
int	width_
Static Public Attributes
static const int	NOT_CONNECTED = -1
static const int	OBSTACLE = -2

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Detailed Description

Performs a 4-connected dynamic programming search around a given point to find which other points it is connected to in the map.

Definition at line 48 of file path_finder.h.

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Constructor & Destructor Documentation

bwi_mapper::PathFinder::PathFinder	(	const nav_msgs::OccupancyGrid &	map,
		const Point2d &	start_pt
	)

Definition at line 41 of file path_finder.cpp.

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Member Function Documentation

int bwi_mapper::PathFinder::getManhattanDistance

(

const Point2d &

pt

)

Definition at line 107 of file path_finder.cpp.

bool bwi_mapper::PathFinder::pathExists

(

const Point2d &

pt

)

Definition at line 103 of file path_finder.cpp.

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Member Data Documentation

const int bwi_mapper::PathFinder::NOT_CONNECTED = -1 [static]

Definition at line 53 of file path_finder.h.

const int bwi_mapper::PathFinder::OBSTACLE = -2 [static]

Definition at line 52 of file path_finder.h.

std::vector<int> bwi_mapper::PathFinder::search_space_

Definition at line 63 of file path_finder.h.

int bwi_mapper::PathFinder::width_

/brief the underlying map over which DFS is performed

Definition at line 62 of file path_finder.h.

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

• path_finder.h
• path_finder.cpp