Traceback function that creates a smooth gradient from the start to the goal. More...
#include <gradient_path.h>
Public Member Functions | |
| nav_2d_msgs::Path2D | getPath (const dlux_global_planner::PotentialGrid &potential_grid, const geometry_msgs::Pose2D &start, const geometry_msgs::Pose2D &goal, double &path_cost) override |
| void | initialize (ros::NodeHandle &private_nh, dlux_global_planner::CostInterpreter::Ptr cost_interpreter) override |
Protected Member Functions | |
| void | calculateGradient (const dlux_global_planner::PotentialGrid &potential_grid, const nav_grid::Index &index) |
| nav_grid::Index | gridStep (const dlux_global_planner::PotentialGrid &potential_grid, const nav_grid::Index &index) |
| bool | shouldGridStep (const dlux_global_planner::PotentialGrid &potential_grid, const nav_grid::Index &index) |
Protected Attributes | |
| nav_grid::VectorNavGrid< double > | gradx_ |
| nav_grid::VectorNavGrid< double > | grady_ |
| bool | grid_step_near_high_ |
| double | iteration_factor_ |
| double | lethal_cost_ |
| double | step_size_ |
Detailed Description
Traceback function that creates a smooth gradient from the start to the goal.
Definition at line 47 of file gradient_path.h.
Member Function Documentation
| void dlux_plugins::GradientPath::calculateGradient | ( | const dlux_global_planner::PotentialGrid & | potential_grid, |
| const nav_grid::Index & | index | ||
| ) | [inline, protected] |
Definition at line 361 of file gradient_path.cpp.
| nav_2d_msgs::Path2D dlux_plugins::GradientPath::getPath | ( | const dlux_global_planner::PotentialGrid & | potential_grid, |
| const geometry_msgs::Pose2D & | start, | ||
| const geometry_msgs::Pose2D & | goal, | ||
| double & | path_cost | ||
| ) | [override] |
Definition at line 63 of file gradient_path.cpp.
| nav_grid::Index dlux_plugins::GradientPath::gridStep | ( | const dlux_global_planner::PotentialGrid & | potential_grid, |
| const nav_grid::Index & | index | ||
| ) | [protected] |
Definition at line 255 of file gradient_path.cpp.
| void dlux_plugins::GradientPath::initialize | ( | ros::NodeHandle & | private_nh, |
| dlux_global_planner::CostInterpreter::Ptr | cost_interpreter | ||
| ) | [override, virtual] |
Reimplemented from dlux_global_planner::Traceback.
Definition at line 48 of file gradient_path.cpp.
| bool dlux_plugins::GradientPath::shouldGridStep | ( | const dlux_global_planner::PotentialGrid & | potential_grid, |
| const nav_grid::Index & | index | ||
| ) | [protected] |
Definition at line 235 of file gradient_path.cpp.
Member Data Documentation
nav_grid::VectorNavGrid<double> dlux_plugins::GradientPath::gradx_ [protected] |
Definition at line 64 of file gradient_path.h.
nav_grid::VectorNavGrid<double> dlux_plugins::GradientPath::grady_ [protected] |
Definition at line 64 of file gradient_path.h.
bool dlux_plugins::GradientPath::grid_step_near_high_ [protected] |
Definition at line 63 of file gradient_path.h.
double dlux_plugins::GradientPath::iteration_factor_ [protected] |
Definition at line 62 of file gradient_path.h.
double dlux_plugins::GradientPath::lethal_cost_ [protected] |
Definition at line 61 of file gradient_path.h.
double dlux_plugins::GradientPath::step_size_ [protected] |
Definition at line 60 of file gradient_path.h.
The documentation for this class was generated from the following files: