potential_calculator.h
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00035  * Author: Eitan Marder-Eppstein
00036  *         David V. Lu!!
00037  *********************************************************************/
00038 #ifndef _POTENTIAL_CALCULATOR_H
00039 #define _POTENTIAL_CALCULATOR_H
00040 namespace global_planner {
00041 
00042 class PotentialCalculator {
00043     public:
00044         PotentialCalculator(int nx, int ny) {
00045             setSize(nx, ny);
00046         }
00047 
00048         virtual float calculatePotential(float* potential, unsigned char cost, int n, float prev_potential=-1){
00049             if(prev_potential < 0){
00050                 // get min of neighbors
00051                 float min_h = std::min( potential[n - 1], potential[n + 1] ),
00052                       min_v = std::min( potential[n - nx_], potential[n + nx_]);
00053                 prev_potential = std::min(min_h, min_v);
00054             }
00055 
00056             return prev_potential + cost;
00057         }
00058 
00064         virtual void setSize(int nx, int ny) {
00065             nx_ = nx;
00066             ny_ = ny;
00067             ns_ = nx * ny;
00068         } 
00070     protected:
00071         inline int toIndex(int x, int y) {
00072             return x + nx_ * y;
00073         }
00074 
00075         int nx_, ny_, ns_; 
00076 };
00077 
00078 } //end namespace global_planner
00079 #endif


global_planner
Author(s): David Lu!!
autogenerated on Thu Aug 27 2015 14:07:53