Potential calculator that explores using a distance heuristic (A*) but not the kernel function. More...

#include <astar.h>

Inheritance diagram for dlux_plugins::AStar:

Classes
struct	QueueEntry
	Helper Class for sorting indexes by their heuristic. More...
struct	QueueEntryComparator
	Comparator for sorting the QueueEntrys. More...
Public Member Functions
void	initialize (ros::NodeHandle &private_nh, nav_core2::Costmap::Ptr costmap, dlux_global_planner::CostInterpreter::Ptr cost_interpreter) override
unsigned int	updatePotentials (dlux_global_planner::PotentialGrid &potential_grid, const geometry_msgs::Pose2D &start, const geometry_msgs::Pose2D &goal) override
Protected Member Functions
void	add (dlux_global_planner::PotentialGrid &potential_grid, double prev_potential, const nav_grid::Index &index, const nav_grid::Index &start_index)
	Calculate the potential for index if not calculated already.
float	getHeuristicValue (const nav_grid::Index &index, const nav_grid::Index &start_index) const
	Calculate the heuristic value for a particular cell.
Protected Attributes
bool	manhattan_heuristic_
double	minimum_requeue_change_
AStarQueue	queue_
bool	use_kernel_

Detailed Description

Potential calculator that explores using a distance heuristic (A*) but not the kernel function.

Definition at line 49 of file astar.h.

Member Function Documentation

void dlux_plugins::AStar::add	(	dlux_global_planner::PotentialGrid &	potential_grid,
		double	prev_potential,
		const nav_grid::Index &	index,
		const nav_grid::Index &	start_index
	)		`[protected]`

Calculate the potential for index if not calculated already.

Parameters:

potential_grid	Potential grid
prev_potential	Potential of the previous cell
index	Coordinates of cell to calculate
start_index	Coordinates of start cell (for heuristic calculation)

Definition at line 103 of file astar.cpp.

float dlux_plugins::AStar::getHeuristicValue	(	const nav_grid::Index &	index,
		const nav_grid::Index &	start_index
	)		const `[protected]`

Calculate the heuristic value for a particular cell.

Parameters:

index	Coordinates of cell to calculate
start_index	Coordinates of start cell

Definition at line 132 of file astar.cpp.

void dlux_plugins::AStar::initialize	(	ros::NodeHandle &	private_nh,
		nav_core2::Costmap::Ptr	costmap,
		dlux_global_planner::CostInterpreter::Ptr	cost_interpreter
	)		`[override, virtual]`

Definition at line 46 of file astar.cpp.

unsigned int dlux_plugins::AStar::updatePotentials	(	dlux_global_planner::PotentialGrid &	potential_grid,
		const geometry_msgs::Pose2D &	start,
		const geometry_msgs::Pose2D &	goal
	)		`[override]`

Definition at line 55 of file astar.cpp.

Definition at line 102 of file astar.h.

Definition at line 104 of file astar.h.

Definition at line 101 of file astar.h.

Definition at line 103 of file astar.h.

The documentation for this class was generated from the following files: