Classes
struct	CellData
Public Member Functions
	Inflate ()
void	operator() (const std::string layer_source, const std::string layer_destination, const float &inflation_radius, const InflationComputer &inflation_computer, CostMap &cost_map)
	Inflate...
Private Member Functions
void	computeCaches (const float &resolution, const InflationComputer &compute_cost)
unsigned char	costLookup (int mx, int my, int src_x, int src_y)
	Lookup pre-computed costs.
double	distanceLookup (int mx, int my, int src_x, int src_y)
	Lookup pre-computed distances.
void	enqueue (const cost_map::Matrix &data_source, cost_map::Matrix &data_destination, unsigned int mx, unsigned int my, unsigned int src_x, unsigned int src_y)
	Given an index of a cell in the costmap, place it into a priority queue for obstacle inflation.
Private Attributes
cost_map::Matrix	cached_costs_
Eigen::MatrixXf	cached_distances_
unsigned int	cell_inflation_radius_
std::priority_queue< CellData >	inflation_queue_
Eigen::Matrix< bool, Eigen::Dynamic, Eigen::Dynamic >	seen_

Detailed Description

Definition at line 75 of file inflation.hpp.

Constructor & Destructor Documentation

cost_map::Inflate::Inflate ( ) [inline]

Definition at line 77 of file inflation.hpp.

void cost_map::Inflate::computeCaches	(	const float &	resolution,
		const InflationComputer &	compute_cost
	)		`[private]`

Definition at line 131 of file inflation.cpp.

unsigned char cost_map::Inflate::costLookup	(	int	mx,
		int	my,
		int	src_x,
		int	src_y
	)		`[private]`

Lookup pre-computed costs.

Parameters:

mx	The x coordinate of the current cell
my	The y coordinate of the current cell
src_x	The x coordinate of the source cell
src_y	The y coordinate of the source cell

Definition at line 124 of file inflation.cpp.

double cost_map::Inflate::distanceLookup	(	int	mx,
		int	my,
		int	src_x,
		int	src_y
	)		`[private]`

Lookup pre-computed distances.

Parameters:

mx	The x coordinate of the current cell
my	The y coordinate of the current cell
src_x	The x coordinate of the source cell
src_y	The y coordinate of the source cell

Definition at line 117 of file inflation.cpp.

void cost_map::Inflate::enqueue	(	const cost_map::Matrix &	data_source,
		cost_map::Matrix &	data_destination,
		unsigned int	mx,
		unsigned int	my,
		unsigned int	src_x,
		unsigned int	src_y
	)		`[private]`

Given an index of a cell in the costmap, place it into a priority queue for obstacle inflation.

Parameters:

data_destination	the costs (will be read and superimposed on this)
mx	The x coordinate of the cell (can be computed from the index, but saves time to store it)
my	The y coordinate of the cell (can be computed from the index, but saves time to store it)
src_x	The x index of the obstacle point inflation started at
src_y	The y index of the obstacle point inflation started at

Definition at line 84 of file inflation.cpp.

void cost_map::Inflate::operator()	(	const std::string	layer_source,
		const std::string	layer_destination,
		const float &	inflation_radius,
		const InflationComputer &	inflation_computer,
		CostMap &	cost_map
	)