Classes | |
| class | CostInterpreter |
| class | DluxGlobalPlanner |
| Plugin-based global wavefront planner that conforms to the `nav_core2` GlobalPlanner interface. More... | |
| class | PlannerNode |
| Demonstration/debug tool that creates paths between arbitrary points. More... | |
| class | PotentialCalculator |
| Plugin interface for calculating a numerical score (potential) for some subset of the cells in the costmap. More... | |
| class | Traceback |
| Plugin interface for using the potential to trace a path from the start position back to the goal position. More... | |
Enumerations | |
| enum | CardinalDirection { STATIONARY = 0, NORTH = 1, SOUTH = 2, WEST = 4, NORTHWEST = 5, SOUTHWEST = 6, EAST = 8, NORTHEAST = 9, SOUTHEAST = 10 } |
| enum | UnknownInterpretation { LETHAL, EXPENSIVE, FREE } |
Functions | |
| static float | calculateKernel (const PotentialGrid &potential_grid, unsigned char cost, unsigned int x, unsigned int y, CardinalDirection *upstream=nullptr) |
| potential calculation that uses multiple values of the neighboring cells | |
| bool | operator& (CardinalDirection a, CardinalDirection b) |
| CardinalDirection | operator+ (CardinalDirection a, CardinalDirection b) |
Variables | |
| const float | HIGH_POTENTIAL = std::numeric_limits<float>::max() |
| const unsigned char | LETHAL_COST = nav_core2::Costmap::INSCRIBED_INFLATED_OBSTACLE |
| const float | LETHAL_COST_F = static_cast<float>(LETHAL_COST) |
Definition at line 45 of file kernel_function.h.
Definition at line 44 of file cost_interpreter.h.
| static float dlux_global_planner::calculateKernel | ( | const PotentialGrid & | potential_grid, |
| unsigned char | cost, | ||
| unsigned int | x, | ||
| unsigned int | y, | ||
| CardinalDirection * | upstream = nullptr |
||
| ) | [static] |
potential calculation that uses multiple values of the neighboring cells
The new potential is returned directly. Information about which cells were used in the computation can be returned using the upstream variable. For instance, if just the cell (x+1, y) was used in the calculation, upstream=EAST If (x+1, y) and (x, y+1) were used, upstream=SOUTHEAST.
| potential_grid[in] | potential grid where neighboring values are read from |
| cost[in] | The cost to traversing to this cell |
| x[in] | The x coordinate of this cell we're calculating potential for |
| y[in] | The y coordinate |
| upstream[out] | Direction of cells used in computation (if not null initially) |
Definition at line 83 of file kernel_function.h.
| bool dlux_global_planner::operator& | ( | CardinalDirection | a, |
| CardinalDirection | b | ||
| ) | [inline] |
Definition at line 63 of file kernel_function.h.
| CardinalDirection dlux_global_planner::operator+ | ( | CardinalDirection | a, |
| CardinalDirection | b | ||
| ) | [inline] |
Definition at line 58 of file kernel_function.h.
| const float dlux_global_planner::HIGH_POTENTIAL = std::numeric_limits<float>::max() |
Default value for potential indicating it has not yet been calculated
Definition at line 46 of file potential.h.
| const unsigned char dlux_global_planner::LETHAL_COST = nav_core2::Costmap::INSCRIBED_INFLATED_OBSTACLE |
Definition at line 45 of file cost_interpreter.h.
| const float dlux_global_planner::LETHAL_COST_F = static_cast<float>(LETHAL_COST) |
Definition at line 46 of file cost_interpreter.h.