BFS_3D.h
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00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2008, Maxim Likhachev
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Maxim Likhachev nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00034 
00035 
00038 #ifndef _SBPL_BFS_3D_H_
00039 #define _SBPL_BFS_3D_H_
00040 
00041 #include <boost/thread.hpp>
00042 
00043 namespace sbpl_interface {
00044 
00045 #define WALL         0x7FFFFFFF
00046 #define UNDISCOVERED 0xFFFFFFFF
00047 
00048 class BFS_3D {
00049 private:
00050   int dim_x, dim_y, dim_z;
00051   int dim_xy, dim_xyz;
00052 
00053   int origin;
00054   int volatile* distance_grid;
00055 
00056   int* queue;
00057   int queue_head, queue_tail;
00058 
00059   boost::shared_ptr<boost::thread> search_thread_;
00060 
00061   volatile bool running;
00062 
00063   void search(int, int, int volatile*, int*, int&, int&);
00064   inline int getNode(int, int, int);
00065 
00066 public:
00067   BFS_3D(int, int, int);
00068   ~BFS_3D();
00069 
00070   void getDimensions(int*, int*, int*);
00071 
00072   void setWall(int, int, int);
00073   bool isWall(int, int, int);
00074 
00075   void run(int, int, int);
00076 
00077   int getDistance(int, int, int);
00078 };
00079 }
00080 
00081 #endif


sbpl_interface
Author(s): Gil Jones
autogenerated on Sun Jan 17 2016 12:57:03