astar.h
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00003  * Software License Agreement (BSD License)
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00035  * Author: Eitan Marder-Eppstein
00036  *         David V. Lu!!
00037  *********************************************************************/
00038 #ifndef _ASTAR_H
00039 #define _ASTAR_H
00040 
00041 #include <global_planner/planner_core.h>
00042 #include <global_planner/expander.h>
00043 #include <vector>
00044 #include <algorithm>
00045 
00046 namespace global_planner {
00047 class Index {
00048     public:
00049         Index(int a, float b) {
00050             i = a;
00051             cost = b;
00052         }
00053         int i;
00054         float cost;
00055 };
00056 
00057 struct greater1 {
00058         bool operator()(const Index& a, const Index& b) const {
00059             return a.cost > b.cost;
00060         }
00061 };
00062 
00063 class AStarExpansion : public Expander {
00064     public:
00065         AStarExpansion(PotentialCalculator* p_calc, int nx, int ny);
00066         bool calculatePotentials(unsigned char* costs, double start_x, double start_y, double end_x, double end_y, int cycles,
00067                                 float* potential);
00068     private:
00069         void add(unsigned char* costs, float* potential, float prev_potential, int next_i, int end_x, int end_y);
00070         std::vector<Index> queue_;
00071 };
00072 
00073 } //end namespace global_planner
00074 #endif
00075 


global_planner
Author(s): David Lu!!
autogenerated on Sun Mar 3 2019 03:46:53