#include <voronoi_point.h>

Inheritance diagram for bwi_mapper::VoronoiPoint:

Public Member Functions
void	addBasisCandidate (const Point2d &candidate, uint32_t threshold, const nav_msgs::OccupancyGrid &map, bool use_naive)
	Attempts to add a basis candidate to this voronoi point. The basis candidate is only added if and only if it is 2 * threshhold away from an existing basis for that point, and is not too close to existing basis point in obstacle space If it is too close, then it is only retained if it is better than an existing basis, in which case the existing basis is thrown out.
	VoronoiPoint ()
	VoronoiPoint (int x, int y)
	VoronoiPoint (const Point2d &pt)
Public Attributes
float	average_clearance
float	basis_distance
std::vector< Point2d >	basis_points
float	critical_clearance_diff

Detailed Description

Definition at line 48 of file voronoi_point.h.

Constructor & Destructor Documentation

bwi_mapper::VoronoiPoint::VoronoiPoint ( ) [inline]

Definition at line 51 of file voronoi_point.h.

bwi_mapper::VoronoiPoint::VoronoiPoint	(	int	x,
		int	y
	)		`[inline]`

Definition at line 52 of file voronoi_point.h.

bwi_mapper::VoronoiPoint::VoronoiPoint ( const Point2d & pt ) [inline]

Definition at line 53 of file voronoi_point.h.

Member Function Documentation

void bwi_mapper::VoronoiPoint::addBasisCandidate	(	const Point2d &	candidate,
		uint32_t	threshold,
		const nav_msgs::OccupancyGrid &	map,
		bool	use_naive
	)

Attempts to add a basis candidate to this voronoi point. The basis candidate is only added if and only if it is 2 * threshhold away from an existing basis for that point, and is not too close to existing basis point in obstacle space If it is too close, then it is only retained if it is better than an existing basis, in which case the existing basis is thrown out.

Parameters:

threshold Any point having an obstacle closer than threshold is rejected as it is not useful, even if it might be a valid voronoi point

Definition at line 53 of file voronoi_point.cpp.