MapInflationTool.h
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00001 #ifndef MAP_INFLATION_TOOL_H
00002 #define MAP_INFLATION_TOOL_H
00003 
00004 #include <queue>
00005 
00006 #include <ros/ros.h>
00007 #include <nav2d_navigator/GridMap.h>
00008 
00009 class CellData
00010 {
00011 public:
00012         CellData(double d, double i, unsigned int sx, unsigned int sy);
00013         double distance;
00014         unsigned int index;
00015         unsigned int sx, sy;
00016 };
00017 
00018 inline bool operator<(const CellData &a, const CellData &b)
00019 {
00020         return a.distance > b.distance;
00021 }
00022 
00023 
00024 class MapInflationTool
00025 {
00026 public:
00027         MapInflationTool();
00028         ~MapInflationTool();
00029         
00030         void computeCaches(unsigned int radius);
00031         void inflateMap(GridMap* map);
00032         
00033 private:
00034         void enqueueObstacle(unsigned int index, unsigned int sx, unsigned int sy);
00035         inline double distanceLookup(int mx, int my, int src_x, int src_y);
00036         inline char costLookup(int mx, int my, int src_x, int src_y);
00037         
00038         GridMap* mGridMap;
00039         
00040         unsigned int mCellInflationRadius;
00041         char** mCachedCosts;
00042         double ** mCachedDistances;
00043         
00044         std::priority_queue<CellData> mInflationQueue;
00045         unsigned char* mInflationMarkers;
00046         
00047         char mCostObstacle;
00048 //      char mCostLethal;
00049 };
00050 
00051 #endif


nav2d_navigator
Author(s): Sebastian Kasperski
autogenerated on Sun Apr 2 2017 03:53:43