gradient_path.h
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00035  * Author: Eitan Marder-Eppstein
00036  *         David V. Lu!!
00037  *********************************************************************/
00038 #ifndef _GRADIENT_PATH_H
00039 #define _GRADIENT_PATH_H
00040 
00041 #include<global_planner/traceback.h>
00042 #include <math.h>
00043 
00044 namespace global_planner {
00045 
00046 class GradientPath : public Traceback {
00047     public:
00048         GradientPath(PotentialCalculator* p_calc);
00049         ~GradientPath();
00050 
00051         void setSize(int xs, int ys);
00052 
00053         //
00054         // Path construction
00055         // Find gradient at array points, interpolate path
00056         // Use step size of pathStep, usually 0.5 pixel
00057         //
00058         // Some sanity checks:
00059         //  1. Stuck at same index position
00060         //  2. Doesn't get near goal
00061         //  3. Surrounded by high potentials
00062         //
00063         bool getPath(float* potential, double start_x, double start_y, double end_x, double end_y, std::vector<std::pair<float, float> >& path);
00064     private:
00065         inline int getNearestPoint(int stc, float dx, float dy) {
00066             int pt = stc + (int)round(dx) + (int)(xs_ * round(dy));
00067             return std::max(0, std::min(xs_ * ys_ - 1, pt));
00068         }
00069         float gradCell(float* potential, int n);
00070 
00071         float *gradx_, *grady_; 
00073         float pathStep_; 
00074 };
00075 
00076 } //end namespace global_planner
00077 #endif


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