Implementation for graph functions. More...
#include <yaml-cpp/yaml.h>#include <fstream>#include <boost/graph/dijkstra_shortest_paths.hpp>#include <boost/foreach.hpp>#include <bwi_mapper/graph.h>#include <bwi_mapper/map_utils.h>#include <bwi_mapper/point_utils.h>
Go to the source code of this file.
Namespaces | |
| namespace | bwi_mapper |
Functions | |
| void | bwi_mapper::drawArrowOnGraph (cv::Mat &image, const Graph &graph, std::pair< size_t, float > arrow, uint32_t map_width, uint32_t map_height, cv::Scalar color=cv::Scalar(0, 0, 255), uint32_t orig_x=0, uint32_t orig_y=0) |
| void | bwi_mapper::drawArrowOnImage (cv::Mat &image, const cv::Point2f &arrow_center, float orientation, const cv::Scalar &color, int size, int thickness) |
| void | bwi_mapper::drawCircleOnGraph (cv::Mat &image, const Graph &graph, size_t node, cv::Scalar color=cv::Scalar(0, 0, 255), uint32_t orig_x=0, uint32_t orig_y=0) |
| void | bwi_mapper::drawGraph (cv::Mat &image, const Graph &graph, uint32_t orig_x=0, uint32_t orig_y=0, bool put_text=true, bool put_all_edges=true, std::vector< std::pair< size_t, size_t > > specific_edges=std::vector< std::pair< size_t, size_t > >()) |
| draws the given graph onto an image starting at (orig_x, orig_y) | |
| void | bwi_mapper::drawSquareOnGraph (cv::Mat &image, const Graph &graph, size_t node, cv::Scalar color=cv::Scalar(0, 0, 255), uint32_t orig_x=0, uint32_t orig_y=0, int size=30, int thickness=2) |
| void | bwi_mapper::getAdjacentNodes (size_t v, const Graph &graph, std::vector< size_t > &adjacent_vertices) |
| size_t | bwi_mapper::getClosestIdOnGraph (const Point2f &point, const Graph &graph, double threshold=0.0) |
| size_t | bwi_mapper::getClosestIdOnGraphFromEdge (const Point2f &point, const Graph &graph, size_t prev_graph_id) |
| float | bwi_mapper::getEuclideanDistance (size_t u, size_t v, const Graph &graph) |
| Point2f | bwi_mapper::getLocationFromGraphId (int idx, const Graph &graph) |
| float | bwi_mapper::getNodeAngle (size_t u, size_t v, const Graph &graph) |
| float | bwi_mapper::getShortestPathDistance (size_t start_idx, size_t goal_idx, const Graph &graph) |
| float | bwi_mapper::getShortestPathWithDistance (size_t start_idx, size_t goal_idx, std::vector< size_t > &path_from_goal, const Graph &graph) |
| void | bwi_mapper::getVisibleNodes (size_t v, const Graph &graph, const nav_msgs::OccupancyGrid &grid, std::vector< size_t > &visible_vertices, float visibility_range=0.0f) |
| bool | bwi_mapper::isVisible (size_t u, size_t v, const Graph &graph, const nav_msgs::OccupancyGrid &map) |
| void | bwi_mapper::readGraphFromFile (const std::string &filename, const nav_msgs::MapMetaData &info, Graph &graph) |
| void | bwi_mapper::writeGraphToFile (const std::string &filename, const Graph &graph, const nav_msgs::MapMetaData &info) |
Detailed Description
Implementation for graph functions.
Copyright (c) 2013, UT Austin
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. Neither the name of the <organization> nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT holder>=""> BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
$ Id: 04/18/2013 05:10:28 PM piyushk $
Definition in file graph.cpp.